mesh_shape_distance_traversal_node.h

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#ifndef FCL_TRAVERSAL_MESHSHAPEDISTANCETRAVERSALNODE_H
#define FCL_TRAVERSAL_MESHSHAPEDISTANCETRAVERSALNODE_H
 
#include "fcl/geometry/shape/utility.h"
#include "fcl/narrowphase/detail/traversal/distance/bvh_shape_distance_traversal_node.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename BV, typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT MeshShapeDistanceTraversalNode
    : public BVHShapeDistanceTraversalNode<BV, Shape>
{ 
public:
 
  using S = typename BV::S;
 
  MeshShapeDistanceTraversalNode();
 
  void leafTesting(int b1, int b2) const;
 
  bool canStop(S c) const;
 
  Vector3<S>* vertices;
  Triangle* tri_indices;
 
  S rel_err;
  S abs_err;
    
  const NarrowPhaseSolver* nsolver;
};
 
template <typename BV, typename Shape, typename NarrowPhaseSolver>
void meshShapeDistanceOrientedNodeLeafTesting(
    int b1, int /* b2 */,
    const BVHModel<BV>* model1,
    const Shape& model2,
    Vector3<typename BV::S>* vertices,
    Triangle* tri_indices,
    const Transform3<typename BV::S>& tf1,
    const Transform3<typename BV::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    bool enable_statistics,
    int & num_leaf_tests,
    const DistanceRequest<typename BV::S>& /* request */,
    DistanceResult<typename BV::S>& result);
 
 
template <typename BV, typename Shape, typename NarrowPhaseSolver>
void distancePreprocessOrientedNode(
    const BVHModel<BV>* model1,
    Vector3<typename BV::S>* vertices,
    Triangle* tri_indices,
    int init_tri_id,
    const Shape& model2,
    const Transform3<typename BV::S>& tf1,
    const Transform3<typename BV::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const DistanceRequest<typename BV::S>& /* request */,
    DistanceResult<typename BV::S>& result);
 
template <typename BV, typename Shape, typename NarrowPhaseSolver>
bool initialize(
    MeshShapeDistanceTraversalNode<BV, Shape, NarrowPhaseSolver>& node,
    BVHModel<BV>& model1,
    Transform3<typename BV::S>& tf1,
    const Shape& model2,
    const Transform3<typename BV::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const DistanceRequest<typename BV::S>& request,
    DistanceResult<typename BV::S>& result,
    bool use_refit = false, bool refit_bottomup = false);
 
template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT MeshShapeDistanceTraversalNodeRSS
    : public MeshShapeDistanceTraversalNode<
    RSS<typename Shape::S>, Shape, NarrowPhaseSolver>
{
public:
  using S = typename Shape::S;
 
  MeshShapeDistanceTraversalNodeRSS();
 
  void preprocess();
 
  void postprocess();
 
  S BVTesting(int b1, int b2) const;
 
  void leafTesting(int b1, int b2) const;
};
 
template <typename Shape, typename NarrowPhaseSolver>
bool initialize(
    MeshShapeDistanceTraversalNodeRSS<Shape, NarrowPhaseSolver>& node,
    const BVHModel<RSS<typename Shape::S>>& model1,
    const Transform3<typename Shape::S>& tf1,
    const Shape& model2,
    const Transform3<typename Shape::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const DistanceRequest<typename Shape::S>& request,
    DistanceResult<typename Shape::S>& result);
 
template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT MeshShapeDistanceTraversalNodekIOS
    : public MeshShapeDistanceTraversalNode<kIOS<typename Shape::S>, Shape, NarrowPhaseSolver>
{
public:
  using S = typename Shape::S;
 
  MeshShapeDistanceTraversalNodekIOS();
 
  void preprocess();
 
  void postprocess();
 
  S BVTesting(int b1, int b2) const;
 
  void leafTesting(int b1, int b2) const;
 
};
 
template <typename Shape, typename NarrowPhaseSolver>
bool initialize(
    MeshShapeDistanceTraversalNodekIOS<Shape, NarrowPhaseSolver>& node,
    const BVHModel<kIOS<typename Shape::S>>& model1, const Transform3<typename Shape::S>& tf1,
    const Shape& model2, const Transform3<typename Shape::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const DistanceRequest<typename Shape::S>& request,
    DistanceResult<typename Shape::S>& result);
 
template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT MeshShapeDistanceTraversalNodeOBBRSS
    : public MeshShapeDistanceTraversalNode<OBBRSS<typename Shape::S>, Shape, NarrowPhaseSolver>
{
public:
  using S = typename Shape::S;
 
  MeshShapeDistanceTraversalNodeOBBRSS();
 
  void preprocess();
 
  void postprocess();
 
  S BVTesting(int b1, int b2) const;
 
  void leafTesting(int b1, int b2) const;
  
};
 
template <typename Shape, typename NarrowPhaseSolver>
bool initialize(
    MeshShapeDistanceTraversalNodeOBBRSS<Shape, NarrowPhaseSolver>& node,
    const BVHModel<OBBRSS<typename Shape::S>>& model1,
    const Transform3<typename Shape::S>& tf1,
    const Shape& model2,
    const Transform3<typename Shape::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const DistanceRequest<typename Shape::S>& request,
    DistanceResult<typename Shape::S>& result);
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/distance/mesh_shape_distance_traversal_node-inl.h"
 
#endif