GCC Code Coverage Report

Line	Branch	Exec	Source
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.
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8			* Redistribution and use in source and binary forms, with or without
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20			* from this software without specific prior written permission.
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22			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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24			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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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	2/4 ✓ Branch 0 taken 83252 times. ✗ Branch 1 not taken. ✓ Branch 2 taken 83252 times. ✗ Branch 3 not taken.	166504	first_primitive == other.first_primitive &&
79	1/2 ✓ Branch 0 taken 83252 times. ✗ Branch 1 not taken.	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		162560820	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		59025963	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		22822374	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		22822125	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	2/4 ✓ Branch 1 taken 83252 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 83252 times. ✗ Branch 5 not taken.	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