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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2016, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** @author Jia Pan */ |
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#ifndef COAL_BROAD_PHASE_DYNAMIC_AABB_TREE_INL_H |
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#define COAL_BROAD_PHASE_DYNAMIC_AABB_TREE_INL_H |
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#include "coal/broadphase/broadphase_dynamic_AABB_tree.h" |
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#include <limits> |
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#if COAL_HAVE_OCTOMAP |
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#include "coal/octree.h" |
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#endif |
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#include "coal/BV/BV.h" |
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#include "coal/shape/geometric_shapes_utility.h" |
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namespace coal { |
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namespace detail { |
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namespace dynamic_AABB_tree { |
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#if COAL_HAVE_OCTOMAP |
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//============================================================================== |
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template <typename Derived> |
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bool collisionRecurse_(DynamicAABBTreeCollisionManager::DynamicAABBNode* root1, |
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const OcTree* tree2, const OcTree::OcTreeNode* root2, |
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const AABB& root2_bv, |
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const Eigen::MatrixBase<Derived>& translation2, |
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CollisionCallBackBase* callback) { |
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if (!root2) { |
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if (root1->isLeaf()) { |
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CollisionObject* obj1 = static_cast<CollisionObject*>(root1->data); |
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if (!obj1->collisionGeometry()->isFree()) { |
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const AABB& root2_bv_t = translate(root2_bv, translation2); |
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if (root1->bv.overlap(root2_bv_t)) { |
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Box* box = new Box(); |
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Transform3s box_tf; |
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Transform3s tf2 = Transform3s::Identity(); |
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tf2.translation() = translation2; |
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constructBox(root2_bv, tf2, *box, box_tf); |
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box->cost_density = |
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tree2->getOccupancyThres(); // thresholds are 0, 1, so uncertain |
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CollisionObject obj2(shared_ptr<CollisionGeometry>(box), box_tf); |
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return (*callback)(obj1, &obj2); |
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} |
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} |
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} else { |
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if (collisionRecurse_(root1->children[0], tree2, nullptr, root2_bv, |
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translation2, callback)) |
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return true; |
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if (collisionRecurse_(root1->children[1], tree2, nullptr, root2_bv, |
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translation2, callback)) |
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return true; |
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} |
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return false; |
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} else if (root1->isLeaf() && !tree2->nodeHasChildren(root2)) { |
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CollisionObject* obj1 = static_cast<CollisionObject*>(root1->data); |
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if (!tree2->isNodeFree(root2) && !obj1->collisionGeometry()->isFree()) { |
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const AABB& root2_bv_t = translate(root2_bv, translation2); |
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if (root1->bv.overlap(root2_bv_t)) { |
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Box* box = new Box(); |
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Transform3s box_tf; |
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Transform3s tf2 = Transform3s::Identity(); |
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tf2.translation() = translation2; |
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constructBox(root2_bv, tf2, *box, box_tf); |
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box->cost_density = Scalar(root2->getOccupancy()); |
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box->threshold_occupied = tree2->getOccupancyThres(); |
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CollisionObject obj2(shared_ptr<CollisionGeometry>(box), box_tf); |
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return (*callback)(obj1, &obj2); |
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} else |
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return false; |
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} else |
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return false; |
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} |
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const AABB& root2_bv_t = translate(root2_bv, translation2); |
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if (tree2->isNodeFree(root2) || !root1->bv.overlap(root2_bv_t)) return false; |
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if (!tree2->nodeHasChildren(root2) || |
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(!root1->isLeaf() && (root1->bv.size() > root2_bv.size()))) { |
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if (collisionRecurse_(root1->children[0], tree2, root2, root2_bv, |
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translation2, callback)) |
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return true; |
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if (collisionRecurse_(root1->children[1], tree2, root2, root2_bv, |
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translation2, callback)) |
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return true; |
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} else { |
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for (unsigned int i = 0; i < 8; ++i) { |
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if (tree2->nodeChildExists(root2, i)) { |
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const OcTree::OcTreeNode* child = tree2->getNodeChild(root2, i); |
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AABB child_bv; |
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computeChildBV(root2_bv, i, child_bv); |
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if (collisionRecurse_(root1, tree2, child, child_bv, translation2, |
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callback)) |
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return true; |
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} else { |
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AABB child_bv; |
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computeChildBV(root2_bv, i, child_bv); |
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if (collisionRecurse_(root1, tree2, nullptr, child_bv, translation2, |
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callback)) |
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return true; |
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} |
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} |
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} |
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return false; |
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} |
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//============================================================================== |
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template <typename Derived> |
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bool distanceRecurse_(DynamicAABBTreeCollisionManager::DynamicAABBNode* root1, |
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const OcTree* tree2, const OcTree::OcTreeNode* root2, |
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const AABB& root2_bv, |
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const Eigen::MatrixBase<Derived>& translation2, |
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DistanceCallBackBase* callback, Scalar& min_dist) { |
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if (root1->isLeaf() && !tree2->nodeHasChildren(root2)) { |
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if (tree2->isNodeOccupied(root2)) { |
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Box* box = new Box(); |
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Transform3s box_tf; |
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Transform3s tf2 = Transform3s::Identity(); |
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tf2.translation() = translation2; |
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constructBox(root2_bv, tf2, *box, box_tf); |
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CollisionObject obj(shared_ptr<CollisionGeometry>(box), box_tf); |
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return (*callback)(static_cast<CollisionObject*>(root1->data), &obj, |
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min_dist); |
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} else |
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return false; |
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} |
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if (!tree2->isNodeOccupied(root2)) return false; |
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if (!tree2->nodeHasChildren(root2) || |
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(!root1->isLeaf() && (root1->bv.size() > root2_bv.size()))) { |
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const AABB& aabb2 = translate(root2_bv, translation2); |
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Scalar d1 = aabb2.distance(root1->children[0]->bv); |
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Scalar d2 = aabb2.distance(root1->children[1]->bv); |
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if (d2 < d1) { |
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if (d2 < min_dist) { |
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if (distanceRecurse_(root1->children[1], tree2, root2, root2_bv, |
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translation2, callback, min_dist)) |
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return true; |
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} |
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if (d1 < min_dist) { |
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if (distanceRecurse_(root1->children[0], tree2, root2, root2_bv, |
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translation2, callback, min_dist)) |
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return true; |
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} |
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} else { |
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if (d1 < min_dist) { |
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if (distanceRecurse_(root1->children[0], tree2, root2, root2_bv, |
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translation2, callback, min_dist)) |
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return true; |
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} |
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if (d2 < min_dist) { |
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if (distanceRecurse_(root1->children[1], tree2, root2, root2_bv, |
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translation2, callback, min_dist)) |
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return true; |
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} |
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} |
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} else { |
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for (unsigned int i = 0; i < 8; ++i) { |
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if (tree2->nodeChildExists(root2, i)) { |
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const OcTree::OcTreeNode* child = tree2->getNodeChild(root2, i); |
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AABB child_bv; |
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computeChildBV(root2_bv, i, child_bv); |
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const AABB& aabb2 = translate(child_bv, translation2); |
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Scalar d = root1->bv.distance(aabb2); |
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if (d < min_dist) { |
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if (distanceRecurse_(root1, tree2, child, child_bv, translation2, |
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callback, min_dist)) |
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return true; |
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} |
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} |
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} |
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} |
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return false; |
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} |
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#endif |
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} // namespace dynamic_AABB_tree |
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} // namespace detail |
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} // namespace coal |
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#endif |
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