collision_node.cpp
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00001 /*
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00034 
00038 #include "fcl/collision_node.h"
00039 #include "fcl/traversal/traversal_recurse.h"
00040 
00041 namespace fcl
00042 {
00043 
00044 void collide(CollisionTraversalNodeBase* node, BVHFrontList* front_list)
00045 {
00046   if(front_list && front_list->size() > 0)
00047   {
00048     propagateBVHFrontListCollisionRecurse(node, front_list);
00049   }
00050   else
00051   {
00052     collisionRecurse(node, 0, 0, front_list);
00053   }
00054 }
00055 
00056 void collide2(MeshCollisionTraversalNodeOBB* node, BVHFrontList* front_list)
00057 {
00058   if(front_list && front_list->size() > 0)
00059   {
00060     propagateBVHFrontListCollisionRecurse(node, front_list);
00061   }
00062   else
00063   {
00064     Matrix3f Rtemp, R;
00065     Vec3f Ttemp, T;
00066     Rtemp = node->R * node->model2->getBV(0).getOrientation();
00067     R = node->model1->getBV(0).getOrientation().transposeTimes(Rtemp);
00068     Ttemp = node->R * node->model2->getBV(0).getCenter() + node->T;
00069     Ttemp -= node->model1->getBV(0).getCenter();
00070     T = node->model1->getBV(0).getOrientation().transposeTimes(Ttemp);
00071 
00072     collisionRecurse(node, 0, 0, R, T, front_list);
00073   }
00074 }
00075 
00076 void collide2(MeshCollisionTraversalNodeRSS* node, BVHFrontList* front_list)
00077 {
00078   if(front_list && front_list->size() > 0)
00079   {
00080     propagateBVHFrontListCollisionRecurse(node, front_list);
00081   }
00082   else
00083   {
00084     collisionRecurse(node, 0, 0, node->R, node->T, front_list);
00085   }
00086 }
00087 
00088 
00089 
00090 void selfCollide(CollisionTraversalNodeBase* node, BVHFrontList* front_list)
00091 {
00092 
00093   if(front_list && front_list->size() > 0)
00094   {
00095     propagateBVHFrontListCollisionRecurse(node, front_list);
00096   }
00097   else
00098   {
00099     selfCollisionRecurse(node, 0, front_list);
00100   }
00101 }
00102 
00103 void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list, int qsize)
00104 {
00105   node->preprocess();
00106   
00107   if(qsize <= 2)
00108     distanceRecurse(node, 0, 0, front_list);
00109   else
00110     distanceQueueRecurse(node, 0, 0, front_list, qsize);
00111 
00112   node->postprocess();
00113 }
00114 
00115 }
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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:30