GCC Code Coverage Report


Directory: ./
File: include/coal/BV/BV_node.h
Date: 2025-04-01 09:23:31
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Lines: 20 21 95.2%
Branches: 5 10 50.0%

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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Open Source Robotics Foundation nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 */
35
36 /** \author Jia Pan */
37
38 #ifndef COAL_BV_NODE_H
39 #define COAL_BV_NODE_H
40
41 #include "coal/data_types.h"
42 #include "coal/BV/BV.h"
43
44 namespace coal {
45
46 /// @defgroup Construction_Of_BVH Construction of BVHModel
47 /// Classes which are used to build a BVHModel (Bounding Volume Hierarchy)
48 /// @{
49
50 /// @brief BVNodeBase encodes the tree structure for BVH
51 struct COAL_DLLAPI BVNodeBase {
52 /// @brief An index for first child node or primitive
53 /// If the value is positive, it is the index of the first child bv node
54 /// If the value is negative, it is -(primitive index + 1)
55 /// Zero is not used.
56 int first_child;
57
58 /// @brief The start id the primitive belonging to the current node. The index
59 /// is referred to the primitive_indices in BVHModel and from that we can
60 /// obtain the primitive's index in original data indirectly.
61 unsigned int first_primitive;
62
63 /// @brief The number of primitives belonging to the current node
64 unsigned int num_primitives;
65
66 /// @brief Default constructor
67 1968229 BVNodeBase()
68 1968229 : first_child(0),
69 1968229 first_primitive(
70 1968229 (std::numeric_limits<unsigned int>::max)()) // value we should help
71 // to raise an issue
72 ,
73 1968229 num_primitives(0) {}
74
75 /// @brief Equality operator
76 83252 bool operator==(const BVNodeBase& other) const {
77 166504 return first_child == other.first_child &&
78
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166504 first_primitive == other.first_primitive &&
79
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166504 num_primitives == other.num_primitives;
80 }
81
82 /// @brief Difference operator
83 bool operator!=(const BVNodeBase& other) const { return !(*this == other); }
84
85 /// @brief Whether current node is a leaf node (i.e. contains a primitive
86 /// index
87 162578564 inline bool isLeaf() const { return first_child < 0; }
88
89 /// @brief Return the primitive index. The index is referred to the original
90 /// data (i.e. vertices or tri_indices) in BVHModel
91 59028107 inline int primitiveId() const { return -(first_child + 1); }
92
93 /// @brief Return the index of the first child. The index is referred to the
94 /// bounding volume array (i.e. bvs) in BVHModel
95 22826272 inline int leftChild() const { return first_child; }
96
97 /// @brief Return the index of the second child. The index is referred to the
98 /// bounding volume array (i.e. bvs) in BVHModel
99 22826023 inline int rightChild() const { return first_child + 1; }
100 };
101
102 /// @brief A class describing a bounding volume node. It includes the tree
103 /// structure providing in BVNodeBase and also the geometry data provided in BV
104 /// template parameter.
105 template <typename BV>
106 struct COAL_DLLAPI BVNode : public BVNodeBase {
107 typedef BVNodeBase Base;
108
109 /// @brief bounding volume storing the geometry
110 BV bv;
111
112 /// @brief Equality operator
113 83252 bool operator==(const BVNode& other) const {
114
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83252 return Base::operator==(other) && bv == other.bv;
115 }
116
117 /// @brief Difference operator
118 83252 bool operator!=(const BVNode& other) const { return !(*this == other); }
119
120 /// @brief Check whether two BVNode collide
121 bool overlap(const BVNode& other) const { return bv.overlap(other.bv); }
122 /// @brief Check whether two BVNode collide
123 37740092 bool overlap(const BVNode& other, const CollisionRequest& request,
124 Scalar& sqrDistLowerBound) const {
125 37740092 return bv.overlap(other.bv, request, sqrDistLowerBound);
126 }
127
128 /// @brief Compute the distance between two BVNode. P1 and P2, if not NULL and
129 /// the underlying BV supports distance, return the nearest points.
130 5556 Scalar distance(const BVNode& other, Vec3s* P1 = NULL,
131 Vec3s* P2 = NULL) const {
132 5556 return bv.distance(other.bv, P1, P2);
133 }
134
135 /// @brief Access to the center of the BV
136 Vec3s getCenter() const { return bv.center(); }
137
138 /// @brief Access to the orientation of the BV
139 const Matrix3s& getOrientation() const {
140 static const Matrix3s id3 = Matrix3s::Identity();
141 return id3;
142 }
143
144 /// \cond
145 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
146 /// \endcond
147 };
148
149 template <>
150 inline const Matrix3s& BVNode<OBB>::getOrientation() const {
151 return bv.axes;
152 }
153
154 template <>
155 inline const Matrix3s& BVNode<RSS>::getOrientation() const {
156 return bv.axes;
157 }
158
159 template <>
160 inline const Matrix3s& BVNode<OBBRSS>::getOrientation() const {
161 return bv.obb.axes;
162 }
163
164 } // namespace coal
165
166 #endif
167