traversal_node_base.h

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#ifndef HPP_FCL_TRAVERSAL_NODE_BASE_H
#define HPP_FCL_TRAVERSAL_NODE_BASE_H
 
 
#include <hpp/fcl/data_types.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision_data.h>
 
namespace hpp {
namespace fcl {
 
 
class TraversalNodeBase {
 public:
  TraversalNodeBase() : enable_statistics(false) {}
 
  virtual ~TraversalNodeBase() {}
 
  virtual void preprocess() {}
 
  virtual void postprocess() {}
 
  virtual bool isFirstNodeLeaf(unsigned int /*b*/) const { return true; }
 
  virtual bool isSecondNodeLeaf(unsigned int /*b*/) const { return true; }
 
  virtual bool firstOverSecond(unsigned int /*b1*/, unsigned int /*b2*/) const {
    return true;
  }
 
  virtual int getFirstLeftChild(unsigned int b) const { return (int)b; }
 
  virtual int getFirstRightChild(unsigned int b) const { return (int)b; }
 
  virtual int getSecondLeftChild(unsigned int b) const { return (int)b; }
 
  virtual int getSecondRightChild(unsigned int b) const { return (int)b; }
 
  void enableStatistics(bool enable) { enable_statistics = enable; }
 
  Transform3f tf1;
 
  Transform3f tf2;
 
  bool enable_statistics;
};
 
 
class CollisionTraversalNodeBase : public TraversalNodeBase {
 public:
  CollisionTraversalNodeBase(const CollisionRequest& request_)
      : request(request_), result(NULL) {}
 
  virtual ~CollisionTraversalNodeBase() {}
 
  virtual bool BVDisjoints(unsigned int b1, unsigned int b2,
                           FCL_REAL& sqrDistLowerBound) const = 0;
 
  virtual void leafCollides(unsigned int /*b1*/, unsigned int /*b2*/,
                            FCL_REAL& /*sqrDistLowerBound*/) const = 0;
 
  bool canStop() const { return this->request.isSatisfied(*(this->result)); }
 
  const CollisionRequest& request;
 
  CollisionResult* result;
};
 
 
 
class DistanceTraversalNodeBase : public TraversalNodeBase {
 public:
  DistanceTraversalNodeBase() : result(NULL) {}
 
  virtual ~DistanceTraversalNodeBase() {}
 
  virtual FCL_REAL BVDistanceLowerBound(unsigned int /*b1*/,
                                        unsigned int /*b2*/) const {
    return (std::numeric_limits<FCL_REAL>::max)();
  }
 
  virtual void leafComputeDistance(unsigned int b1, unsigned int b2) const = 0;
 
  virtual bool canStop(FCL_REAL /*c*/) const { return false; }
 
  DistanceRequest request;
 
  DistanceResult* result;
};
 
 
}  // namespace fcl
 
}  // namespace hpp
 
 
#endif