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00038 #ifndef COLLISION_CHECKING_PROXIMITY_H
00039 #define COLLISION_CHECKING_PROXIMITY_H
00040
00041 #include "collision_checking/distance_primitive.h"
00042
00043
00044 namespace collision_checking
00045 {
00046
00048 template<typename BV>
00049 int distance(const BVHModel<BV>& model1, const BVHModel<BV>& model2, BVH_DistanceResult* res, BVHFrontList* front_list = NULL)
00050 {
00051 if(model1.build_state != BVH_BUILD_STATE_PROCESSED && model1.build_state != BVH_BUILD_STATE_UPDATED)
00052 {
00053 std::cerr << "BVH Error: Must finish BVH model construction before call distance()!" << std::endl;
00054 return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00055 }
00056
00057 {
00058 std::cerr << "BVH Error: Must finish BVH model construction before call distance()!" << std::endl;
00059 return BVH_ERR_BUILD_OUT_OF_SEQUENCE;
00060 }
00061
00062
00063 if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType()!= BVH_MODEL_TRIANGLES)
00064 {
00065 std::cerr << "BVH Error: Proximity query only supported between two triangle models." << std::endl;
00066 return BVH_ERR_UNSUPPORTED_FUNCTION;
00067 }
00068
00069 std::cerr << "BVH Error: Proximity query does not support for most BVs." << std::endl;
00070
00071 return BVH_ERR_UNSUPPORTED_FUNCTION;
00072 }
00073
00074
00075
00076
00077
00081 int distance(const BVHModel<RSS>& model1, const Vec3f R1[3], const Vec3f& T1,
00082 const BVHModel<RSS>& model2, const Vec3f R2[3], const Vec3f& T2, BVH_DistanceResult* res, BVHFrontList* front_list = NULL);
00083
00084 }
00085
00086
00087 #endif