BV_node.h

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#ifndef HPP_FCL_BV_NODE_H
#define HPP_FCL_BV_NODE_H

#include <hpp/fcl/data_types.h>

#include <hpp/fcl/BV/BV.h>
#include <iostream>

namespace hpp
{
namespace fcl
{


struct BVNodeBase
{
  int first_child;

  int first_primitive;

  int num_primitives;

  inline bool isLeaf() const { return first_child < 0; }

  inline int primitiveId() const { return -(first_child + 1); }

  inline int leftChild() const { return first_child; }

  inline int rightChild() const { return first_child + 1; }
};

template<typename BV>
struct BVNode : public BVNodeBase
{
  BV bv;

  bool overlap(const BVNode& other) const
  {
    return bv.overlap(other.bv);
  }
  bool overlap(const BVNode& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const
  {
    return bv.overlap(other.bv, request, sqrDistLowerBound);
  }

  FCL_REAL distance(const BVNode& other, Vec3f* P1 = NULL, Vec3f* P2 = NULL) const
  {
    return bv.distance(other.bv, P1, P2);
  }

  Vec3f getCenter() const { return bv.center(); }

  const Matrix3f& getOrientation() const
  {
    static const Matrix3f id3 = Matrix3f::Identity();
    return id3;
  }

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

template<>
inline const Matrix3f& BVNode<OBB>::getOrientation() const 
{
  return bv.axes;
}

template<>
inline const Matrix3f& BVNode<RSS>::getOrientation() const 
{
  return bv.axes;
}

template<>
inline const Matrix3f& BVNode<OBBRSS>::getOrientation() const 
{
  return bv.obb.axes;
}


}

} // namespace hpp

#endif