shape_mesh_collision_traversal_node.h

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#ifndef FCL_TRAVERSAL_SHAPEMESHCOLLISIONTRAVERSALNODE_H
#define FCL_TRAVERSAL_SHAPEMESHCOLLISIONTRAVERSALNODE_H
 
#include "fcl/geometry/shape/utility.h"
#include "fcl/narrowphase/detail/traversal/collision/shape_bvh_collision_traversal_node.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename Shape, typename BV, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshCollisionTraversalNode
    : public ShapeBVHCollisionTraversalNode<Shape, BV>
{
public:
  using S = typename BV::S;
 
  ShapeMeshCollisionTraversalNode();
 
  void leafTesting(int b1, int b2) const;
 
  bool canStop() const;
 
  Vector3<S>* vertices;
  Triangle* tri_indices;
 
  S cost_density;
 
  const NarrowPhaseSolver* nsolver;
};
 
template <typename Shape, typename BV, typename NarrowPhaseSolver>
FCL_EXPORT
bool initialize(
    ShapeMeshCollisionTraversalNode<Shape, BV, NarrowPhaseSolver>& node,
    const Shape& model1,
    const Transform3<typename BV::S>& tf1,
    BVHModel<BV>& model2,
    Transform3<typename BV::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const CollisionRequest<typename BV::S>& request,
    CollisionResult<typename BV::S>& result,
    bool use_refit = false, bool refit_bottomup = false);
 
template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshCollisionTraversalNodeOBB
    : public ShapeMeshCollisionTraversalNode<
    Shape, OBB<typename Shape::S>, NarrowPhaseSolver>
{
public:
  ShapeMeshCollisionTraversalNodeOBB();
 
  bool BVTesting(int b1, int b2) const;
 
  void leafTesting(int b1, int b2) const;
};
 
template <typename Shape, typename NarrowPhaseSolver>
FCL_EXPORT
bool initialize(
    ShapeMeshCollisionTraversalNodeOBB<Shape, NarrowPhaseSolver>& node,
    const Shape& model1,
    const Transform3<typename Shape::S>& tf1,
    const BVHModel<OBB<typename Shape::S>>& model2,
    const Transform3<typename Shape::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const CollisionRequest<typename Shape::S>& request,
    CollisionResult<typename Shape::S>& result);
 
template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshCollisionTraversalNodeRSS
    : public ShapeMeshCollisionTraversalNode<Shape, RSS<typename Shape::S>, NarrowPhaseSolver>
{
public:
  ShapeMeshCollisionTraversalNodeRSS();
 
  bool BVTesting(int b1, int b2) const;
 
  void leafTesting(int b1, int b2) const;
 
};
 
template <typename Shape, typename NarrowPhaseSolver>
FCL_EXPORT
bool initialize(
    ShapeMeshCollisionTraversalNodeRSS<Shape, NarrowPhaseSolver>& node,
    const Shape& model1,
    const Transform3<typename Shape::S>& tf1,
    const BVHModel<RSS<typename Shape::S>>& model2,
    const Transform3<typename Shape::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const CollisionRequest<typename Shape::S>& request,
    CollisionResult<typename Shape::S>& result);
 
template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshCollisionTraversalNodekIOS
    : public ShapeMeshCollisionTraversalNode<Shape, kIOS<typename Shape::S>, NarrowPhaseSolver>
{
public:
  ShapeMeshCollisionTraversalNodekIOS();
 
  bool BVTesting(int b1, int b2) const;
 
  void leafTesting(int b1, int b2) const;
 
};
 
template <typename Shape, typename NarrowPhaseSolver>
FCL_EXPORT
bool initialize(
    ShapeMeshCollisionTraversalNodekIOS<Shape, NarrowPhaseSolver>& node,
    const Shape& model1,
    const Transform3<typename Shape::S>& tf1,
    const BVHModel<kIOS<typename Shape::S>>& model2,
    const Transform3<typename Shape::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const CollisionRequest<typename Shape::S>& request,
    CollisionResult<typename Shape::S>& result);
 
template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshCollisionTraversalNodeOBBRSS
    : public ShapeMeshCollisionTraversalNode<Shape, OBBRSS<typename Shape::S>, NarrowPhaseSolver>
{
public:
  ShapeMeshCollisionTraversalNodeOBBRSS();
 
  bool BVTesting(int b1, int b2) const;
 
  void leafTesting(int b1, int b2) const;
 
};
 
template <typename Shape, typename NarrowPhaseSolver>
FCL_EXPORT
bool initialize(
    ShapeMeshCollisionTraversalNodeOBBRSS<Shape, NarrowPhaseSolver>& node,
    const Shape& model1,
    const Transform3<typename Shape::S>& tf1,
    const BVHModel<OBBRSS<typename Shape::S>>& model2,
    const Transform3<typename Shape::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const CollisionRequest<typename Shape::S>& request,
    CollisionResult<typename Shape::S>& result);
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/collision/shape_mesh_collision_traversal_node-inl.h"
 
#endif