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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 HPP_FCL_BV_NODE_H |
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#define HPP_FCL_BV_NODE_H |
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#include <hpp/fcl/data_types.h> |
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#include <hpp/fcl/BV/BV.h> |
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#include <iostream> |
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namespace hpp { |
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namespace fcl { |
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/// @defgroup Construction_Of_BVH Construction of BVHModel |
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/// Classes which are used to build a BVHModel (Bounding Volume Hierarchy) |
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/// @{ |
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/// @brief BVNodeBase encodes the tree structure for BVH |
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struct HPP_FCL_DLLAPI BVNodeBase { |
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/// @brief An index for first child node or primitive |
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/// If the value is positive, it is the index of the first child bv node |
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/// If the value is negative, it is -(primitive index + 1) |
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/// Zero is not used. |
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int first_child; |
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/// @brief The start id the primitive belonging to the current node. The index |
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/// is referred to the primitive_indices in BVHModel and from that we can |
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/// obtain the primitive's index in original data indirectly. |
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unsigned int first_primitive; |
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/// @brief The number of primitives belonging to the current node |
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unsigned int num_primitives; |
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/// @brief Default constructor |
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2048031 |
BVNodeBase() |
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: first_child(0), |
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first_primitive( |
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2048031 |
(std::numeric_limits<unsigned int>::max)()) // value we should help |
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// to raise an issue |
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, |
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num_primitives(0) {} |
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/// @brief Equality operator |
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bool operator==(const BVNodeBase& other) const { |
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return first_child == other.first_child && |
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✓✗✓✗
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first_primitive == other.first_primitive && |
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✓✗ |
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num_primitives == other.num_primitives; |
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} |
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/// @brief Difference operator |
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bool operator!=(const BVNodeBase& other) const { return !(*this == other); } |
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/// @brief Whether current node is a leaf node (i.e. contains a primitive |
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/// index |
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inline bool isLeaf() const { return first_child < 0; } |
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/// @brief Return the primitive index. The index is referred to the original |
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/// data (i.e. vertices or tri_indices) in BVHModel |
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inline int primitiveId() const { return -(first_child + 1); } |
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/// @brief Return the index of the first child. The index is referred to the |
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/// bounding volume array (i.e. bvs) in BVHModel |
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inline int leftChild() const { return first_child; } |
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/// @brief Return the index of the second child. The index is referred to the |
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/// bounding volume array (i.e. bvs) in BVHModel |
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inline int rightChild() const { return first_child + 1; } |
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}; |
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/// @brief A class describing a bounding volume node. It includes the tree |
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/// structure providing in BVNodeBase and also the geometry data provided in BV |
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/// template parameter. |
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template <typename BV> |
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struct HPP_FCL_DLLAPI BVNode : public BVNodeBase { |
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typedef BVNodeBase Base; |
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/// @brief bounding volume storing the geometry |
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BV bv; |
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/// @brief Equality operator |
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bool operator==(const BVNode& other) const { |
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✓✗✓✗
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return Base::operator==(other) && bv == other.bv; |
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} |
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/// @brief Difference operator |
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bool operator!=(const BVNode& other) const { return !(*this == other); } |
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/// @brief Check whether two BVNode collide |
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bool overlap(const BVNode& other) const { return bv.overlap(other.bv); } |
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/// @brief Check whether two BVNode collide |
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bool overlap(const BVNode& other, const CollisionRequest& request, |
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FCL_REAL& sqrDistLowerBound) const { |
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return bv.overlap(other.bv, request, sqrDistLowerBound); |
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} |
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/// @brief Compute the distance between two BVNode. P1 and P2, if not NULL and |
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/// the underlying BV supports distance, return the nearest points. |
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FCL_REAL distance(const BVNode& other, Vec3f* P1 = NULL, |
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Vec3f* P2 = NULL) const { |
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return bv.distance(other.bv, P1, P2); |
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} |
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/// @brief Access to the center of the BV |
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Vec3f getCenter() const { return bv.center(); } |
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/// @brief Access to the orientation of the BV |
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const Matrix3f& getOrientation() const { |
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static const Matrix3f id3 = Matrix3f::Identity(); |
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return id3; |
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} |
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/// \cond |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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/// \endcond |
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}; |
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template <> |
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inline const Matrix3f& BVNode<OBB>::getOrientation() const { |
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return bv.axes; |
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} |
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template <> |
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inline const Matrix3f& BVNode<RSS>::getOrientation() const { |
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return bv.axes; |
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} |
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template <> |
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inline const Matrix3f& BVNode<OBBRSS>::getOrientation() const { |
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return bv.obb.axes; |
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} |
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} // namespace fcl |
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} // namespace hpp |
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#endif |