| Directory: | ./ |
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| File: | src/collision_node.cpp |
| Date: | 2025-04-01 09:23:31 |
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| Lines: | 23 | 23 | 100.0% |
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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 | #include <../src/collision_node.h> | ||
| 39 | #include "coal/internal/traversal_recurse.h" | ||
| 40 | |||
| 41 | namespace coal { | ||
| 42 | |||
| 43 | 14062 | void checkResultLowerBound(const CollisionResult& result, | |
| 44 | Scalar sqrDistLowerBound) { | ||
| 45 | COAL_UNUSED_VARIABLE(result); | ||
| 46 | 14062 | const Scalar dummy_precision = std::sqrt(Eigen::NumTraits<Scalar>::epsilon()); | |
| 47 | COAL_UNUSED_VARIABLE(dummy_precision); | ||
| 48 |
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14062 | if (sqrDistLowerBound == 0) { |
| 49 |
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2516 | COAL_ASSERT(result.distance_lower_bound <= dummy_precision, |
| 50 | "Distance lower bound should not be positive.", | ||
| 51 | std::logic_error); | ||
| 52 | } else { | ||
| 53 |
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11546 | COAL_ASSERT(result.distance_lower_bound * result.distance_lower_bound - |
| 54 | sqrDistLowerBound < | ||
| 55 | dummy_precision, | ||
| 56 | "Distance lower bound and sqrDistLowerBound should coincide.", | ||
| 57 | std::logic_error); | ||
| 58 | } | ||
| 59 | 14062 | } | |
| 60 | |||
| 61 | 14125 | void collide(CollisionTraversalNodeBase* node, const CollisionRequest& request, | |
| 62 | CollisionResult& result, BVHFrontList* front_list, | ||
| 63 | bool recursive) { | ||
| 64 |
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14125 | if (front_list && front_list->size() > 0) { |
| 65 | 46 | propagateBVHFrontListCollisionRecurse(node, request, result, front_list); | |
| 66 | } else { | ||
| 67 | 14079 | Scalar sqrDistLowerBound = 0; | |
| 68 |
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14079 | if (recursive) |
| 69 |
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14067 | collisionRecurse(node, 0, 0, front_list, sqrDistLowerBound); |
| 70 | else | ||
| 71 |
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12 | collisionNonRecurse(node, front_list, sqrDistLowerBound); |
| 72 |
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14079 | if (!std::isnan(sqrDistLowerBound)) { |
| 73 |
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14062 | checkResultLowerBound(result, sqrDistLowerBound); |
| 74 | } | ||
| 75 | } | ||
| 76 | 14125 | } | |
| 77 | |||
| 78 | 7289 | void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list, | |
| 79 | unsigned int qsize) { | ||
| 80 | 7289 | node->preprocess(); | |
| 81 | |||
| 82 |
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7289 | if (qsize <= 2) |
| 83 | 7268 | distanceRecurse(node, 0, 0, front_list); | |
| 84 | else | ||
| 85 | 21 | distanceQueueRecurse(node, 0, 0, front_list, qsize); | |
| 86 | |||
| 87 | 7289 | node->postprocess(); | |
| 88 | 7289 | } | |
| 89 | |||
| 90 | } // namespace coal | ||
| 91 |