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continuous_collision.h

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#ifndef COLLISION_CHECKING_SELF_COLLISION_H
#define COLLISION_CHECKING_SELF_COLLISION_H


#include "collision_checking/collision_primitive.h"
#include <iostream>

namespace collision_checking
{

template<typename BV>
int continuousCollide(BVHModel<BV>& model1, BVHModel<BV>& model2, BVH_CollideResult* res, BVHFrontList* front_list = NULL)
{
  // currently support continuous collision for mesh-mesh, mesh-point cloud.
  if(model1.getModelType() == BVH_MODEL_POINTCLOUD && model2.getModelType() == BVH_MODEL_POINTCLOUD)
  {
    std::cerr << "BVH Error: Continuous collision only supported between two triangle models or one triangle model and one point cloud." << std::endl;
    return BVH_ERR_UNSUPPORTED_FUNCTION;
  }


  if(model1.build_state == BVH_BUILD_STATE_PROCESSED && model2.build_state == BVH_BUILD_STATE_PROCESSED)
  {
    std::cerr << "BVH Error: Continuous collision must have at least one object moving!" << std::endl;
    return BVH_ERR_UNSUPPORTED_FUNCTION;
  }
  else if(model1.build_state == BVH_BUILD_STATE_UPDATED && model2.build_state == BVH_BUILD_STATE_UPDATED)
  {
    // handle directly
  }
  else if(model1.build_state == BVH_BUILD_STATE_PROCESSED && model2.build_state == BVH_BUILD_STATE_UPDATED)
  {
    // model 1 static, model 2 moving
    model1.prev_vertices = model1.vertices;
  }
  else if(model1.build_state == BVH_BUILD_STATE_UPDATED && model2.build_state == BVH_BUILD_STATE_PROCESSED)
  {
    model2.prev_vertices = model2.vertices;
  }
  else
  {
    std::cerr << "BVH Error: Must finish BVH model construction before call collide()!" << std::endl;
    return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
  }

  res->resetRecord();

  if(front_list && front_list->size() > 0)
    continuousPropagateBVHFrontList(model1.bvs, model2.bvs, model1.vertices, model2.vertices, model1.prev_vertices, model2.prev_vertices, model1.tri_indices, model2.tri_indices, res, front_list);
  else
    continuousCollideRecurse(model1.bvs, model2.bvs, 0, 0, model1.vertices, model2.vertices, model1.prev_vertices, model2.prev_vertices, model1.tri_indices, model2.tri_indices, res, front_list);

  if(model1.build_state == BVH_BUILD_STATE_PROCESSED && model2.build_state == BVH_BUILD_STATE_UPDATED)
  {
    // model 1 static, model 2 moving
    model1.prev_vertices = NULL;
  }
  else if(model1.build_state == BVH_BUILD_STATE_UPDATED && model2.build_state == BVH_BUILD_STATE_PROCESSED)
  {
    model2.prev_vertices = NULL;
  }

  return BVH_OK;
}

template<typename BV>
int continuousSelfCollide(BVHModel<BV>& model, BVH_CollideResult* res, BVHFrontList* front_list = NULL)
{
  // currently support continuous self collision for mesh-mesh.
  if(model.getModelType() != BVH_MODEL_TRIANGLES)
  {
    std::cerr << "BVH Error: Continuous self collision only supported for a triangle model." << std::endl;
    return BVH_ERR_UNSUPPORTED_FUNCTION;
  }

  if(model.build_state != BVH_BUILD_STATE_UPDATED)
  {
    if(model.build_state == BVH_BUILD_STATE_PROCESSED)
    {
      std::cerr << "BVH Error: Continuous self collision only handles moving object!" << std::endl;
      return BVH_ERR_UNSUPPORTED_FUNCTION;
    }
    else
    {
      std::cerr << "BVH Error: Must finish BVH model construction before call collide()!" << std::endl;
      return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
    }
  }

  res->resetRecord();

  if(front_list && front_list->size() > 0)
    continuousPropagateBVHFrontList(model.bvs, model.bvs, model.vertices, model.vertices, model.prev_vertices, model.prev_vertices, model.tri_indices, model.tri_indices, res, front_list);
  else
    continuousSelfCollideRecurse(model.bvs, 0, model.vertices, model.prev_vertices, model.tri_indices, res, front_list);

  return BVH_OK;
}



}

#endif

---

collision_checking
Author(s): Jia Pan, Dinesh Manocha (UNC, Chapel Hill)
autogenerated on Fri Mar 1 14:56:47 2013