shape_mesh_distance_traversal_node.h

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#ifndef FCL_TRAVERSAL_SHAPEMESHDISTANCETRAVERSALNODE_H
#define FCL_TRAVERSAL_SHAPEMESHDISTANCETRAVERSALNODE_H
 
#include "fcl/narrowphase/detail/traversal/distance/shape_bvh_distance_traversal_node.h"
#include "fcl/geometry/bvh/BVH_model.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename Shape, typename BV, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshDistanceTraversalNode
    : public ShapeBVHDistanceTraversalNode<Shape, BV>
{ 
public:
 
  using S = typename BV::S;
 
  ShapeMeshDistanceTraversalNode();
 
  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 Shape, typename BV, typename NarrowPhaseSolver>
bool initialize(
    ShapeMeshDistanceTraversalNode<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 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 ShapeMeshDistanceTraversalNodeRSS
    : public ShapeMeshDistanceTraversalNode<
    Shape, RSS<typename Shape::S>, NarrowPhaseSolver>
{
public:
 
  using S = typename Shape::S;
 
  ShapeMeshDistanceTraversalNodeRSS();
 
  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(
    ShapeMeshDistanceTraversalNodeRSS<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 DistanceRequest<typename Shape::S>& request,
    DistanceResult<typename Shape::S>& result);
 
template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshDistanceTraversalNodekIOS
    : public ShapeMeshDistanceTraversalNode<
    Shape, kIOS<typename Shape::S>, NarrowPhaseSolver>
{
public:
 
  using S = typename Shape::S;
 
  ShapeMeshDistanceTraversalNodekIOS();
 
  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(
    ShapeMeshDistanceTraversalNodekIOS<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 DistanceRequest<typename Shape::S>& request,
    DistanceResult<typename Shape::S>& result);
 
template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshDistanceTraversalNodeOBBRSS
    : public ShapeMeshDistanceTraversalNode<
    Shape, OBBRSS<typename Shape::S>, NarrowPhaseSolver>
{
public:
 
  using S = typename Shape::S;
 
  ShapeMeshDistanceTraversalNodeOBBRSS();
 
  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(
    ShapeMeshDistanceTraversalNodeOBBRSS<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 DistanceRequest<typename Shape::S>& request,
    DistanceResult<typename Shape::S>& result);
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/distance/shape_mesh_distance_traversal_node-inl.h"
 
#endif