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// Copyright (c) 2017, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// This file is part of Coal. |
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// Coal is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// Coal is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// Coal. If not, see <http://www.gnu.org/licenses/>. |
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#include "coal/collision_utility.h" |
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#include "coal/BVH/BVH_utility.h" |
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namespace coal { |
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namespace details { |
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template <typename NT> |
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inline CollisionGeometry* extractBVHtpl(const CollisionGeometry* model, |
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const Transform3s& pose, |
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const AABB& aabb) { |
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// Ensure AABB is already computed |
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if (model->aabb_radius < 0) |
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COAL_THROW_PRETTY("Collision geometry AABB should be computed first.", |
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std::invalid_argument); |
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AABB objAabb = rotate(translate(model->aabb_local, pose.getTranslation()), |
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pose.getRotation()); |
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if (!objAabb.overlap(aabb)) { |
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// No intersection. |
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return nullptr; |
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} |
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const BVHModel<NT>* m = static_cast<const BVHModel<NT>*>(model); |
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return BVHExtract(*m, pose, aabb); |
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} |
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CollisionGeometry* extractBVH(const CollisionGeometry* model, |
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const Transform3s& pose, const AABB& aabb) { |
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switch (model->getNodeType()) { |
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case BV_AABB: |
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return extractBVHtpl<AABB>(model, pose, aabb); |
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case BV_OBB: |
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return extractBVHtpl<OBB>(model, pose, aabb); |
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case BV_RSS: |
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return extractBVHtpl<RSS>(model, pose, aabb); |
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case BV_kIOS: |
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return extractBVHtpl<kIOS>(model, pose, aabb); |
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case BV_OBBRSS: |
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return extractBVHtpl<OBBRSS>(model, pose, aabb); |
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case BV_KDOP16: |
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return extractBVHtpl<KDOP<16> >(model, pose, aabb); |
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case BV_KDOP18: |
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return extractBVHtpl<KDOP<18> >(model, pose, aabb); |
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case BV_KDOP24: |
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return extractBVHtpl<KDOP<24> >(model, pose, aabb); |
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default: |
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COAL_THROW_PRETTY("Unknown type of bounding volume", std::runtime_error); |
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} |
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} |
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} // namespace details |
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CollisionGeometry* extract(const CollisionGeometry* model, |
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const Transform3s& pose, const AABB& aabb) { |
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switch (model->getObjectType()) { |
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case OT_BVH: |
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return details::extractBVH(model, pose, aabb); |
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// case OT_GEOM: return model; |
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default: |
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COAL_THROW_PRETTY("Extraction is not implemented for this type of object", |
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std::runtime_error); |
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} |
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} |
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} // namespace coal |
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