traversal_node_base.h

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#ifndef HPP_FCL_TRAVERSAL_NODE_BASE_H
#define HPP_FCL_TRAVERSAL_NODE_BASE_H


#include <hpp/fcl/data_types.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision_data.h>

namespace hpp
{
namespace fcl
{


class TraversalNodeBase
{
public:
  TraversalNodeBase () : enable_statistics(false) {}

  virtual ~TraversalNodeBase() {}

  virtual void preprocess() {}
  
  virtual void postprocess() {}

  virtual bool isFirstNodeLeaf(int /*b*/) const { return true; }

  virtual bool isSecondNodeLeaf(int /*b*/) const { return true; }

  virtual bool firstOverSecond(int /*b1*/, int /*b2*/) const { return true; }

  virtual int getFirstLeftChild(int b) const { return b; }

  virtual int getFirstRightChild(int b) const { return b; }

  virtual int getSecondLeftChild(int b) const { return b; }

  virtual int getSecondRightChild(int b) const { return b; }

  void enableStatistics(bool enable) { enable_statistics = enable; }

  Transform3f tf1;

  Transform3f tf2;

  bool enable_statistics;
};


class CollisionTraversalNodeBase : public TraversalNodeBase
{
public:
  CollisionTraversalNodeBase (const CollisionRequest& request_) :
  request (request_), result(NULL) {}

  virtual ~CollisionTraversalNodeBase() {}

  virtual bool BVDisjoints(int b1, int b2) const = 0;

  virtual bool BVDisjoints(int b1, int b2, FCL_REAL& sqrDistLowerBound) const = 0;

  virtual void leafCollides(int /*b1*/, int /*b2*/, FCL_REAL& /*sqrDistLowerBound*/) const
  {
    throw std::runtime_error ("Not implemented");
  }

  bool canStop() const { return this->request.isSatisfied(*(this->result)); }

  const CollisionRequest& request;

  CollisionResult* result;

  bool enable_statistics;
};



class DistanceTraversalNodeBase : public TraversalNodeBase
{
public:
  DistanceTraversalNodeBase() : result(NULL) {}

  virtual ~DistanceTraversalNodeBase() {}

  virtual FCL_REAL BVDistanceLowerBound(int /*b1*/, int /*b2*/) const
  {
    return std::numeric_limits<FCL_REAL>::max();
  }

  virtual void leafComputeDistance(int b1, int b2) const = 0;

  virtual bool canStop(FCL_REAL /*c*/) const
  { return false; }

  DistanceRequest request;

  DistanceResult* result;
};


}

} // namespace hpp


#endif