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distance_primitive.h

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#ifndef COLLISION_CHECKING_DISTANCE_PRIMITIVE_H
#define COLLISION_CHECKING_DISTANCE_PRIMITIVE_H

#include "collision_checking/BVH_defs.h"
#include "collision_checking/BVH_model.h"
#include "collision_checking/BVH_front.h"

namespace collision_checking
{

struct BVH_DistanceResult
{
  int num_bv_tests;

  int num_tri_tests;

  BVH_REAL query_time_seconds;

  BVH_REAL rel_err;
  BVH_REAL abs_err;

  BVH_REAL distance;
  Vec3f p1, p2;

  int qsize;

  int last_tri_id1;
  int last_tri_id2;

  BVH_DistanceResult();

  ~BVH_DistanceResult();

  void resetRecord()
  {
    num_bv_tests = 0;
    num_tri_tests = 0;
  }
};


template<typename BV>
void distanceRecurse(BVNode<BV>* tree1, BVNode<BV>* tree2, int b1, int b2,
                    Vec3f* vertices1, Vec3f* vertices2,
                    Triangle* tri_indices1, Triangle* tri_indices2,
                    BVH_DistanceResult* res, BVHFrontList* front_list = NULL)
{
  std::cerr << "Bounding volume structure default can not support distance operation!" << std::endl;
}

void distanceRecurse(BVNode<RSS>* tree1, BVNode<RSS>* tree2,
                    const Vec3f R[3], const Vec3f& T,
                    int b1, int b2,
                    Vec3f* vertices1, Vec3f* vertices2,
                    Triangle* tri_indices1, Triangle* tri_indices2,
                    BVH_DistanceResult* res, BVHFrontList* front_list = NULL);


void distanceQueueRecurse(BVNode<RSS>* tree1, BVNode<RSS>* tree2,
                          const Vec3f R[3], const Vec3f& T,
                          int b1, int b2,
                          Vec3f* vertices1, Vec3f* vertices2,
                          Triangle* tri_indices1, Triangle* tri_indices2,
                          BVH_DistanceResult* res, BVHFrontList* front_list = NULL);

}


#endif

---

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