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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 | #ifndef COAL_TRAVERSAL_NODE_BASE_H | ||
| 39 | #define COAL_TRAVERSAL_NODE_BASE_H | ||
| 40 | |||
| 41 | /// @cond INTERNAL | ||
| 42 | |||
| 43 | #include "coal/data_types.h" | ||
| 44 | #include "coal/math/transform.h" | ||
| 45 | #include "coal/collision_data.h" | ||
| 46 | |||
| 47 | namespace coal { | ||
| 48 | |||
| 49 | /// @brief Node structure encoding the information required for traversal. | ||
| 50 | |||
| 51 | class TraversalNodeBase { | ||
| 52 | public: | ||
| 53 | 21363 | TraversalNodeBase() : enable_statistics(false) {} | |
| 54 | |||
| 55 | 42726 | virtual ~TraversalNodeBase() {} | |
| 56 | |||
| 57 | ✗ | virtual void preprocess() {} | |
| 58 | |||
| 59 | ✗ | virtual void postprocess() {} | |
| 60 | |||
| 61 | /// @brief Whether b is a leaf node in the first BVH tree | ||
| 62 | 3100 | virtual bool isFirstNodeLeaf(unsigned int /*b*/) const { return true; } | |
| 63 | |||
| 64 | /// @brief Whether b is a leaf node in the second BVH tree | ||
| 65 | 77568 | virtual bool isSecondNodeLeaf(unsigned int /*b*/) const { return true; } | |
| 66 | |||
| 67 | /// @brief Traverse the subtree of the node in the first tree first | ||
| 68 | 39229 | virtual bool firstOverSecond(unsigned int /*b1*/, unsigned int /*b2*/) const { | |
| 69 | 39229 | return true; | |
| 70 | } | ||
| 71 | |||
| 72 | /// @brief Get the left child of the node b in the first tree | ||
| 73 | ✗ | virtual int getFirstLeftChild(unsigned int b) const { return (int)b; } | |
| 74 | |||
| 75 | /// @brief Get the right child of the node b in the first tree | ||
| 76 | ✗ | virtual int getFirstRightChild(unsigned int b) const { return (int)b; } | |
| 77 | |||
| 78 | /// @brief Get the left child of the node b in the second tree | ||
| 79 | ✗ | virtual int getSecondLeftChild(unsigned int b) const { return (int)b; } | |
| 80 | |||
| 81 | /// @brief Get the right child of the node b in the second tree | ||
| 82 | ✗ | virtual int getSecondRightChild(unsigned int b) const { return (int)b; } | |
| 83 | |||
| 84 | /// @brief Whether store some statistics information during traversal | ||
| 85 | void enableStatistics(bool enable) { enable_statistics = enable; } | ||
| 86 | |||
| 87 | /// @brief configuation of first object | ||
| 88 | Transform3s tf1; | ||
| 89 | |||
| 90 | /// @brief configuration of second object | ||
| 91 | Transform3s tf2; | ||
| 92 | |||
| 93 | /// @brief Whether stores statistics | ||
| 94 | bool enable_statistics; | ||
| 95 | }; | ||
| 96 | |||
| 97 | /// @defgroup Traversal_For_Collision | ||
| 98 | /// regroup class about traversal for distance. | ||
| 99 | /// @{ | ||
| 100 | |||
| 101 | /// @brief Node structure encoding the information required for collision | ||
| 102 | /// traversal. | ||
| 103 | class CollisionTraversalNodeBase : public TraversalNodeBase { | ||
| 104 | public: | ||
| 105 | 14079 | CollisionTraversalNodeBase(const CollisionRequest& request_) | |
| 106 | 14079 | : request(request_), result(NULL) {} | |
| 107 | |||
| 108 | 28158 | virtual ~CollisionTraversalNodeBase() {} | |
| 109 | |||
| 110 | /// BV test between b1 and b2 | ||
| 111 | /// @param b1, b2 Bounding volumes to test, | ||
| 112 | /// @retval sqrDistLowerBound square of a lower bound of the minimal | ||
| 113 | /// distance between bounding volumes. | ||
| 114 | virtual bool BVDisjoints(unsigned int b1, unsigned int b2, | ||
| 115 | Scalar& sqrDistLowerBound) const = 0; | ||
| 116 | |||
| 117 | /// @brief Leaf test between node b1 and b2, if they are both leafs | ||
| 118 | virtual void leafCollides(unsigned int /*b1*/, unsigned int /*b2*/, | ||
| 119 | Scalar& /*sqrDistLowerBound*/) const = 0; | ||
| 120 | |||
| 121 | /// @brief Check whether the traversal can stop | ||
| 122 | 20823389 | bool canStop() const { return this->request.isSatisfied(*(this->result)); } | |
| 123 | |||
| 124 | /// @brief request setting for collision | ||
| 125 | const CollisionRequest& request; | ||
| 126 | |||
| 127 | /// @brief collision result kept during the traversal iteration | ||
| 128 | CollisionResult* result; | ||
| 129 | }; | ||
| 130 | |||
| 131 | /// @} | ||
| 132 | |||
| 133 | /// @defgroup Traversal_For_Distance | ||
| 134 | /// regroup class about traversal for distance. | ||
| 135 | /// @{ | ||
| 136 | |||
| 137 | /// @brief Node structure encoding the information required for distance | ||
| 138 | /// traversal. | ||
| 139 | class DistanceTraversalNodeBase : public TraversalNodeBase { | ||
| 140 | public: | ||
| 141 |
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7284 | DistanceTraversalNodeBase() : result(NULL) {} |
| 142 | |||
| 143 | 14568 | virtual ~DistanceTraversalNodeBase() {} | |
| 144 | |||
| 145 | /// @brief BV test between b1 and b2 | ||
| 146 | /// @return a lower bound of the distance between the two BV. | ||
| 147 | /// @note except for OBB, this method returns the distance. | ||
| 148 | ✗ | virtual Scalar BVDistanceLowerBound(unsigned int /*b1*/, | |
| 149 | unsigned int /*b2*/) const { | ||
| 150 | ✗ | return (std::numeric_limits<Scalar>::max)(); | |
| 151 | } | ||
| 152 | |||
| 153 | /// @brief Leaf test between node b1 and b2, if they are both leafs | ||
| 154 | virtual void leafComputeDistance(unsigned int b1, unsigned int b2) const = 0; | ||
| 155 | |||
| 156 | /// @brief Check whether the traversal can stop | ||
| 157 | ✗ | virtual bool canStop(Scalar /*c*/) const { return false; } | |
| 158 | |||
| 159 | /// @brief request setting for distance | ||
| 160 | DistanceRequest request; | ||
| 161 | |||
| 162 | /// @brief distance result kept during the traversal iteration | ||
| 163 | DistanceResult* result; | ||
| 164 | }; | ||
| 165 | |||
| 166 | ///@} | ||
| 167 | |||
| 168 | } // namespace coal | ||
| 169 | |||
| 170 | /// @endcond | ||
| 171 | |||
| 172 | #endif | ||
| 173 |