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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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#include <../src/collision_node.h> |
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#include <hpp/fcl/internal/traversal_recurse.h> |
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namespace hpp { |
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namespace fcl { |
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void collide(CollisionTraversalNodeBase* node, const CollisionRequest& request, |
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CollisionResult& result, BVHFrontList* front_list, |
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bool recursive) { |
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✓✓✓✓
✓✓ |
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if (front_list && front_list->size() > 0) { |
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propagateBVHFrontListCollisionRecurse(node, request, result, front_list); |
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} else { |
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FCL_REAL sqrDistLowerBound = 0; |
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✓✓ |
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if (recursive) |
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✓✗ |
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collisionRecurse(node, 0, 0, front_list, sqrDistLowerBound); |
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else |
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✓✗ |
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collisionNonRecurse(node, front_list, sqrDistLowerBound); |
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✓✓ |
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if (!std::isnan(sqrDistLowerBound)) { |
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✓✓ |
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if (sqrDistLowerBound == 0) { |
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✗✓ |
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assert(result.distance_lower_bound <= 0); |
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} else { |
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✗✓ |
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assert(result.distance_lower_bound * result.distance_lower_bound - |
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sqrDistLowerBound < |
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1e-8); |
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} |
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} |
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} |
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} |
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void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list, |
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unsigned int qsize) { |
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node->preprocess(); |
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✓✓ |
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if (qsize <= 2) |
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722648 |
distanceRecurse(node, 0, 0, front_list); |
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else |
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distanceQueueRecurse(node, 0, 0, front_list, qsize); |
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node->postprocess(); |
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} |
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} // namespace fcl |
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} // namespace hpp |