collision_utility.cpp

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// Copyright (c) 2017, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
// This file is part of hpp-fcl.
// hpp-fcl is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-fcl is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-fcl. If not, see <http://www.gnu.org/licenses/>.
 
#include <hpp/fcl/collision_utility.h>
 
#include <hpp/fcl/BVH/BVH_utility.h>
 
namespace hpp {
namespace fcl {
namespace details {
 
template <typename NT>
inline CollisionGeometry* extractBVHtpl(const CollisionGeometry* model,
                                        const Transform3f& pose,
                                        const AABB& aabb) {
  // Ensure AABB is already computed
  if (model->aabb_radius < 0)
    HPP_FCL_THROW_PRETTY("Collision geometry AABB should be computed first.",
                         std::invalid_argument);
  AABB objAabb = rotate(translate(model->aabb_local, pose.getTranslation()),
                        pose.getRotation());
  if (!objAabb.overlap(aabb)) {
    // No intersection.
    return nullptr;
  }
  const BVHModel<NT>* m = static_cast<const BVHModel<NT>*>(model);
  return BVHExtract(*m, pose, aabb);
}
 
CollisionGeometry* extractBVH(const CollisionGeometry* model,
                              const Transform3f& pose, const AABB& aabb) {
  switch (model->getNodeType()) {
    case BV_AABB:
      return extractBVHtpl<AABB>(model, pose, aabb);
    case BV_OBB:
      return extractBVHtpl<OBB>(model, pose, aabb);
    case BV_RSS:
      return extractBVHtpl<RSS>(model, pose, aabb);
    case BV_kIOS:
      return extractBVHtpl<kIOS>(model, pose, aabb);
    case BV_OBBRSS:
      return extractBVHtpl<OBBRSS>(model, pose, aabb);
    case BV_KDOP16:
      return extractBVHtpl<KDOP<16> >(model, pose, aabb);
    case BV_KDOP18:
      return extractBVHtpl<KDOP<18> >(model, pose, aabb);
    case BV_KDOP24:
      return extractBVHtpl<KDOP<24> >(model, pose, aabb);
    default:
      throw std::runtime_error("Unknown type of bounding volume");
  }
}
}  // namespace details
 
CollisionGeometry* extract(const CollisionGeometry* model,
                           const Transform3f& pose, const AABB& aabb) {
  switch (model->getObjectType()) {
    case OT_BVH:
      return details::extractBVH(model, pose, aabb);
    // case OT_GEOM: return model;
    default:
      throw std::runtime_error(
          "Extraction is not implemented for this type of object");
  }
}
}  // namespace fcl
 
}  // namespace hpp