shape_mesh_conservative_advancement_traversal_node.h

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#ifndef FCL_TRAVERSAL_SHAPEMESHCONSERVATIVEADVANCEMENTTRAVERSALNODE_H
#define FCL_TRAVERSAL_SHAPEMESHCONSERVATIVEADVANCEMENTTRAVERSALNODE_H

#include "fcl/geometry/shape/utility.h"
#include "fcl/narrowphase/detail/traversal/distance/shape_mesh_distance_traversal_node.h"
#include "fcl/narrowphase/detail/traversal/distance/conservative_advancement_stack_data.h"

namespace fcl
{

namespace detail
{

template <typename Shape, typename BV, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshConservativeAdvancementTraversalNode
    : public ShapeMeshDistanceTraversalNode<Shape, BV, NarrowPhaseSolver>
{
public:

  using S = typename BV::S;

  ShapeMeshConservativeAdvancementTraversalNode(S w_ = 1);

  S BVTesting(int b1, int b2) const;

  void leafTesting(int b1, int b2) const;

  bool canStop(S c) const;

  mutable S min_distance;

  mutable Vector3<S> closest_p1, closest_p2;

  mutable int last_tri_id;
  
  S w;

  S toc;
  S t_err;

  mutable S delta_t;

  const MotionBase<S>* motion1;
  const MotionBase<S>* motion2;

  mutable std::vector<ConservativeAdvancementStackData<S>> stack;
};

template <typename Shape, typename BV, typename NarrowPhaseSolver>
bool initialize(
    ShapeMeshConservativeAdvancementTraversalNode<Shape, BV, NarrowPhaseSolver>& node,
    const Shape& model1,
    const Transform3<typename BV::S>& tf1,
    BVHModel<BV>& model2,
    const Transform3<typename BV::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    typename BV::S w = 1,
    bool use_refit = false,
    bool refit_bottomup = false);

template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshConservativeAdvancementTraversalNodeRSS
    : public ShapeMeshConservativeAdvancementTraversalNode<
    Shape, RSS<typename Shape::S>, NarrowPhaseSolver>
{
public:
  using S = typename Shape::S;

  ShapeMeshConservativeAdvancementTraversalNodeRSS(S w_ = 1);

  S BVTesting(int b1, int b2) const;

  void leafTesting(int b1, int b2) const;

  bool canStop(S c) const;
};

template <typename Shape, typename NarrowPhaseSolver>
bool initialize(
    ShapeMeshConservativeAdvancementTraversalNodeRSS<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,
    typename Shape::S w = 1);

template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeMeshConservativeAdvancementTraversalNodeOBBRSS
    : public ShapeMeshConservativeAdvancementTraversalNode<
    Shape, OBBRSS<typename Shape::S>, NarrowPhaseSolver>
{
public:
  using S = typename Shape::S;

  ShapeMeshConservativeAdvancementTraversalNodeOBBRSS(S w_ = 1);

  S BVTesting(int b1, int b2) const;

  void leafTesting(int b1, int b2) const;

  bool canStop(S c) const;
};

template <typename Shape, typename NarrowPhaseSolver>
bool initialize(
    ShapeMeshConservativeAdvancementTraversalNodeOBBRSS<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,
    typename Shape::S w = 1);

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/traversal/distance/shape_mesh_conservative_advancement_traversal_node-inl.h"

#endif