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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) 2014-2015, 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_TRAVERSAL_NODE_BASE_H |
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#define COAL_TRAVERSAL_NODE_BASE_H |
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/// @cond INTERNAL |
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#include "coal/data_types.h" |
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#include "coal/math/transform.h" |
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#include "coal/collision_data.h" |
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namespace coal { |
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/// @brief Node structure encoding the information required for traversal. |
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class TraversalNodeBase { |
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public: |
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TraversalNodeBase() : enable_statistics(false) {} |
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virtual ~TraversalNodeBase() {} |
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virtual void preprocess() {} |
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virtual void postprocess() {} |
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/// @brief Whether b is a leaf node in the first BVH tree |
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virtual bool isFirstNodeLeaf(unsigned int /*b*/) const { return true; } |
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/// @brief Whether b is a leaf node in the second BVH tree |
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virtual bool isSecondNodeLeaf(unsigned int /*b*/) const { return true; } |
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/// @brief Traverse the subtree of the node in the first tree first |
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virtual bool firstOverSecond(unsigned int /*b1*/, unsigned int /*b2*/) const { |
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return true; |
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} |
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/// @brief Get the left child of the node b in the first tree |
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virtual int getFirstLeftChild(unsigned int b) const { return (int)b; } |
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/// @brief Get the right child of the node b in the first tree |
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virtual int getFirstRightChild(unsigned int b) const { return (int)b; } |
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/// @brief Get the left child of the node b in the second tree |
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virtual int getSecondLeftChild(unsigned int b) const { return (int)b; } |
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/// @brief Get the right child of the node b in the second tree |
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virtual int getSecondRightChild(unsigned int b) const { return (int)b; } |
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/// @brief Whether store some statistics information during traversal |
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void enableStatistics(bool enable) { enable_statistics = enable; } |
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/// @brief configuation of first object |
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Transform3s tf1; |
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/// @brief configuration of second object |
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Transform3s tf2; |
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/// @brief Whether stores statistics |
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bool enable_statistics; |
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}; |
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/// @defgroup Traversal_For_Collision |
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/// regroup class about traversal for distance. |
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/// @{ |
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/// @brief Node structure encoding the information required for collision |
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/// traversal. |
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class CollisionTraversalNodeBase : public TraversalNodeBase { |
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public: |
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CollisionTraversalNodeBase(const CollisionRequest& request_) |
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: request(request_), result(NULL) {} |
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virtual ~CollisionTraversalNodeBase() {} |
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/// BV test between b1 and b2 |
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/// @param b1, b2 Bounding volumes to test, |
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/// @retval sqrDistLowerBound square of a lower bound of the minimal |
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/// distance between bounding volumes. |
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virtual bool BVDisjoints(unsigned int b1, unsigned int b2, |
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Scalar& sqrDistLowerBound) const = 0; |
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/// @brief Leaf test between node b1 and b2, if they are both leafs |
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virtual void leafCollides(unsigned int /*b1*/, unsigned int /*b2*/, |
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Scalar& /*sqrDistLowerBound*/) const = 0; |
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/// @brief Check whether the traversal can stop |
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bool canStop() const { return this->request.isSatisfied(*(this->result)); } |
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/// @brief request setting for collision |
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const CollisionRequest& request; |
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/// @brief collision result kept during the traversal iteration |
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CollisionResult* result; |
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}; |
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/// @} |
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/// @defgroup Traversal_For_Distance |
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/// regroup class about traversal for distance. |
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/// @{ |
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/// @brief Node structure encoding the information required for distance |
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/// traversal. |
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class DistanceTraversalNodeBase : public TraversalNodeBase { |
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public: |
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DistanceTraversalNodeBase() : result(NULL) {} |
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virtual ~DistanceTraversalNodeBase() {} |
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/// @brief BV test between b1 and b2 |
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/// @return a lower bound of the distance between the two BV. |
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/// @note except for OBB, this method returns the distance. |
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virtual Scalar BVDistanceLowerBound(unsigned int /*b1*/, |
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unsigned int /*b2*/) const { |
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return (std::numeric_limits<Scalar>::max)(); |
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} |
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/// @brief Leaf test between node b1 and b2, if they are both leafs |
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virtual void leafComputeDistance(unsigned int b1, unsigned int b2) const = 0; |
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/// @brief Check whether the traversal can stop |
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virtual bool canStop(Scalar /*c*/) const { return false; } |
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/// @brief request setting for distance |
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DistanceRequest request; |
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/// @brief distance result kept during the traversal iteration |
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DistanceResult* result; |
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}; |
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///@} |
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} // namespace coal |
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/// @endcond |
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#endif |
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