traversal_node_setup.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef HPP_FCL_TRAVERSAL_NODE_SETUP_H
#define HPP_FCL_TRAVERSAL_NODE_SETUP_H


#include <hpp/fcl/internal/tools.h>
#include <hpp/fcl/internal/traversal_node_bvhs.h>
#include <hpp/fcl/internal/traversal_node_shapes.h>
#include <hpp/fcl/internal/traversal_node_bvh_shape.h>

#ifdef HPP_FCL_HAVE_OCTOMAP
#include <hpp/fcl/internal/traversal_node_octree.h>
#endif

#include <hpp/fcl/BVH/BVH_utility.h>

namespace hpp
{
namespace fcl
{

#ifdef HPP_FCL_HAVE_OCTOMAP
inline bool initialize(OcTreeCollisionTraversalNode& node,
                       const OcTree& model1, const Transform3f& tf1,
                       const OcTree& model2, const Transform3f& tf2,
                       const OcTreeSolver* otsolver,
                       CollisionResult& result)
{
  node.result = &result;

  node.model1 = &model1;
  node.model2 = &model2;
  
  node.otsolver = otsolver;

  node.tf1 = tf1;
  node.tf2 = tf2;

  return true;
}

inline bool initialize(OcTreeDistanceTraversalNode& node,
                       const OcTree& model1, const Transform3f& tf1,
                       const OcTree& model2, const Transform3f& tf2,
                       const OcTreeSolver* otsolver,
                       const DistanceRequest& request,
                       DistanceResult& result)

{
  node.request = request;
  node.result = &result;
 
  node.model1 = &model1;
  node.model2 = &model2;
  
  node.otsolver = otsolver;
  
  node.tf1 = tf1;
  node.tf2 = tf2;

  return true;
}

template<typename S>
bool initialize(ShapeOcTreeCollisionTraversalNode<S>& node,
                const S& model1, const Transform3f& tf1,
                const OcTree& model2, const Transform3f& tf2,
                const OcTreeSolver* otsolver,
                CollisionResult& result)
{
  node.result = &result;

  node.model1 = &model1;
  node.model2 = &model2;

  node.otsolver = otsolver;

  node.tf1 = tf1;
  node.tf2 = tf2;

  return true;
}

template<typename S>
bool initialize(OcTreeShapeCollisionTraversalNode<S>& node,
                const OcTree& model1, const Transform3f& tf1,
                const S& model2, const Transform3f& tf2,
                const OcTreeSolver* otsolver,
                CollisionResult& result)
{
  node.result = &result;

  node.model1 = &model1;
  node.model2 = &model2;

  node.otsolver = otsolver;

  node.tf1 = tf1;
  node.tf2 = tf2;

  return true;
}

template<typename S>
bool initialize(ShapeOcTreeDistanceTraversalNode<S>& node,
                const S& model1, const Transform3f& tf1,
                const OcTree& model2, const Transform3f& tf2,
                const OcTreeSolver* otsolver,
                const DistanceRequest& request,
                DistanceResult& result)
{
  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.model2 = &model2;

  node.otsolver = otsolver;

  node.tf1 = tf1;
  node.tf2 = tf2;

  return true;
}

template<typename S>
bool initialize(OcTreeShapeDistanceTraversalNode<S>& node,
                const OcTree& model1, const Transform3f& tf1,
                const S& model2, const Transform3f& tf2,
                const OcTreeSolver* otsolver,
                const DistanceRequest& request,
                DistanceResult& result)
{
  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.model2 = &model2;

  node.otsolver = otsolver;

  node.tf1 = tf1;
  node.tf2 = tf2;

  return true;
}

template<typename BV>
bool initialize(MeshOcTreeCollisionTraversalNode<BV>& node,
                const BVHModel<BV>& model1, const Transform3f& tf1,
                const OcTree& model2, const Transform3f& tf2,
                const OcTreeSolver* otsolver,
                CollisionResult& result)
{
  node.result = &result;

  node.model1 = &model1;
  node.model2 = &model2;

  node.otsolver = otsolver;

  node.tf1 = tf1;
  node.tf2 = tf2;

  return true;
}

template<typename BV>
bool initialize(OcTreeMeshCollisionTraversalNode<BV>& node,
                const OcTree& model1, const Transform3f& tf1,
                const BVHModel<BV>& model2, const Transform3f& tf2,
                const OcTreeSolver* otsolver,
                CollisionResult& result)
{
  node.result = &result;

  node.model1 = &model1;
  node.model2 = &model2;

  node.otsolver = otsolver;

  node.tf1 = tf1;
  node.tf2 = tf2;

  return true;
}

template<typename BV>
bool initialize(MeshOcTreeDistanceTraversalNode<BV>& node,
                const BVHModel<BV>& model1, const Transform3f& tf1,
                const OcTree& model2, const Transform3f& tf2,
                const OcTreeSolver* otsolver,
                const DistanceRequest& request,
                DistanceResult& result)
{
  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.model2 = &model2;
  
  node.otsolver = otsolver;

  node.tf1 = tf1;
  node.tf2 = tf2;

  return true;
}

template<typename BV>
bool initialize(OcTreeMeshDistanceTraversalNode<BV>& node,
                const OcTree& model1, const Transform3f& tf1,
                const BVHModel<BV>& model2, const Transform3f& tf2,
                const OcTreeSolver* otsolver,
                const DistanceRequest& request,
                DistanceResult& result)
{
  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.model2 = &model2;
  
  node.otsolver = otsolver;

  node.tf1 = tf1;
  node.tf2 = tf2;

  return true;
}

#endif


template<typename S1, typename S2>
bool initialize(ShapeCollisionTraversalNode<S1, S2>& node,
                const S1& shape1, const Transform3f& tf1,
                const S2& shape2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                CollisionResult& result)
{
  node.model1 = &shape1;
  node.tf1 = tf1;
  node.model2 = &shape2;
  node.tf2 = tf2;
  node.nsolver = nsolver;

  node.result = &result;
  
  return true;
}

template<typename BV, typename S>
bool initialize(MeshShapeCollisionTraversalNode<BV, S>& node,
                BVHModel<BV>& model1, Transform3f& tf1,
                const S& model2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                CollisionResult& result,
                bool use_refit = false, bool refit_bottomup = false)
{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  if(!tf1.isIdentity())
  {
    std::vector<Vec3f> vertices_transformed(model1.num_vertices);
    for(int i = 0; i < model1.num_vertices; ++i)
    {
      Vec3f& p = model1.vertices[i];
      Vec3f new_v = tf1.transform(p);
      vertices_transformed[i] = new_v;
    }

    model1.beginReplaceModel();
    model1.replaceSubModel(vertices_transformed);
    model1.endReplaceModel(use_refit, refit_bottomup);

    tf1.setIdentity();
  }

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;
  node.nsolver = nsolver;

  computeBV(model2, tf2, node.model2_bv);

  node.vertices = model1.vertices;
  node.tri_indices = model1.tri_indices;

  node.result = &result;

  return true;
}

template<typename BV, typename S>
bool initialize(MeshShapeCollisionTraversalNode<BV, S, 0>& node,
                const BVHModel<BV>& model1, const Transform3f& tf1,
                const S& model2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                CollisionResult& result)
{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;
  node.nsolver = nsolver;

  computeBV(model2, tf2, node.model2_bv);

  node.vertices = model1.vertices;
  node.tri_indices = model1.tri_indices;

  node.result = &result;

  return true;
}

namespace details
{
template<typename S, typename BV, template<typename> class OrientedNode>
static inline bool setupShapeMeshCollisionOrientedNode(OrientedNode<S>& node, 
                                                       const S& model1, const Transform3f& tf1,
                                                       const BVHModel<BV>& model2, const Transform3f& tf2,
                                                       const GJKSolver* nsolver,
                                                       CollisionResult& result)
{
  if(model2.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;
  node.nsolver = nsolver;

  computeBV(model1, tf1, node.model1_bv);

  node.vertices = model2.vertices;
  node.tri_indices = model2.tri_indices;

  node.result = &result;

  return true;
}
}


template<typename BV>
bool initialize(MeshCollisionTraversalNode<BV, RelativeTransformationIsIdentity>& node,
                BVHModel<BV>& model1, Transform3f& tf1,
                BVHModel<BV>& model2, Transform3f& tf2,
                CollisionResult& result,
                bool use_refit = false, bool refit_bottomup = false)
{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  if(!tf1.isIdentity())
  {
    std::vector<Vec3f> vertices_transformed1(model1.num_vertices);
    for(int i = 0; i < model1.num_vertices; ++i)
    {
      Vec3f& p = model1.vertices[i];
      Vec3f new_v = tf1.transform(p);
      vertices_transformed1[i] = new_v;
    }

    model1.beginReplaceModel();
    model1.replaceSubModel(vertices_transformed1);
    model1.endReplaceModel(use_refit, refit_bottomup);

    tf1.setIdentity();
  }

  if(!tf2.isIdentity())
  {
    std::vector<Vec3f> vertices_transformed2(model2.num_vertices);
    for(int i = 0; i < model2.num_vertices; ++i)
    {
      Vec3f& p = model2.vertices[i];
      Vec3f new_v = tf2.transform(p);
      vertices_transformed2[i] = new_v;
    }

    model2.beginReplaceModel();
    model2.replaceSubModel(vertices_transformed2);
    model2.endReplaceModel(use_refit, refit_bottomup);

    tf2.setIdentity();
  }

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;

  node.vertices1 = model1.vertices;
  node.vertices2 = model2.vertices;

  node.tri_indices1 = model1.tri_indices;
  node.tri_indices2 = model2.tri_indices;

  node.result = &result;

  return true;
}

template<typename BV>
bool initialize(MeshCollisionTraversalNode<BV, 0>& node,
                const BVHModel<BV>& model1, const Transform3f& tf1,
                const BVHModel<BV>& model2, const Transform3f& tf2,
                CollisionResult& result)
{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  node.vertices1 = model1.vertices;
  node.vertices2 = model2.vertices;

  node.tri_indices1 = model1.tri_indices;
  node.tri_indices2 = model2.tri_indices;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;

  node.result = &result;

  node.RT.R = tf1.getRotation().transpose() * tf2.getRotation();
  node.RT.T = tf1.getRotation().transpose() * (tf2.getTranslation() - tf1.getTranslation());

  return true;
}

template<typename S1, typename S2>
bool initialize(ShapeDistanceTraversalNode<S1, S2>& node,
                const S1& shape1, const Transform3f& tf1,
                const S2& shape2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                const DistanceRequest& request,
                DistanceResult& result)
{
  node.request = request;
  node.result = &result;

  node.model1 = &shape1;
  node.tf1 = tf1;
  node.model2 = &shape2;
  node.tf2 = tf2;
  node.nsolver = nsolver;

  return true;
}

template<typename BV>
bool initialize(MeshDistanceTraversalNode<BV, RelativeTransformationIsIdentity>& node,
                BVHModel<BV>& model1, Transform3f& tf1,
                BVHModel<BV>& model2, Transform3f& tf2,
                const DistanceRequest& request,
                DistanceResult& result,
                bool use_refit = false, bool refit_bottomup = false)
{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  if(!tf1.isIdentity())
  {
    std::vector<Vec3f> vertices_transformed1(model1.num_vertices);
    for(int i = 0; i < model1.num_vertices; ++i)
    {
      Vec3f& p = model1.vertices[i];
      Vec3f new_v = tf1.transform(p);
      vertices_transformed1[i] = new_v;
    }

    model1.beginReplaceModel();
    model1.replaceSubModel(vertices_transformed1);
    model1.endReplaceModel(use_refit, refit_bottomup);

    tf1.setIdentity();
  }

  if(!tf2.isIdentity())
  {
    std::vector<Vec3f> vertices_transformed2(model2.num_vertices);
    for(int i = 0; i < model2.num_vertices; ++i)
    {
      Vec3f& p = model2.vertices[i];
      Vec3f new_v = tf2.transform(p);
      vertices_transformed2[i] = new_v;
    }

    model2.beginReplaceModel();
    model2.replaceSubModel(vertices_transformed2);
    model2.endReplaceModel(use_refit, refit_bottomup);

    tf2.setIdentity();
  }

  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;

  node.vertices1 = model1.vertices;
  node.vertices2 = model2.vertices;

  node.tri_indices1 = model1.tri_indices;
  node.tri_indices2 = model2.tri_indices;

  return true;
}

template<typename BV>
bool initialize(MeshDistanceTraversalNode<BV, 0>& node,
                const BVHModel<BV>& model1, const Transform3f& tf1,
                const BVHModel<BV>& model2, const Transform3f& tf2,
                const DistanceRequest& request,
                DistanceResult& result)
{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;

  node.vertices1 = model1.vertices;
  node.vertices2 = model2.vertices;

  node.tri_indices1 = model1.tri_indices;
  node.tri_indices2 = model2.tri_indices;

  relativeTransform(tf1.getRotation(), tf1.getTranslation(),
      tf2.getRotation(), tf2.getTranslation(),
      node.RT.R, node.RT.T);

  return true;
}

template<typename BV, typename S>
bool initialize(MeshShapeDistanceTraversalNode<BV, S>& node,
                BVHModel<BV>& model1, Transform3f& tf1,
                const S& model2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                const DistanceRequest& request,
                DistanceResult& result,
                bool use_refit = false, bool refit_bottomup = false)
{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  if(!tf1.isIdentity())
  {
    std::vector<Vec3f> vertices_transformed1(model1.num_vertices);
    for(int i = 0; i < model1.num_vertices; ++i)
    {
      Vec3f& p = model1.vertices[i];
      Vec3f new_v = tf1.transform(p);
      vertices_transformed1[i] = new_v;
    }

    model1.beginReplaceModel();
    model1.replaceSubModel(vertices_transformed1);
    model1.endReplaceModel(use_refit, refit_bottomup);

    tf1.setIdentity();
  }

  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;
  node.nsolver = nsolver;
  
  node.vertices = model1.vertices;
  node.tri_indices = model1.tri_indices;

  computeBV(model2, tf2, node.model2_bv);

  return true;
}

template<typename S, typename BV>
bool initialize(ShapeMeshDistanceTraversalNode<S, BV>& node,
                const S& model1, const Transform3f& tf1,
                BVHModel<BV>& model2, Transform3f& tf2,
                const GJKSolver* nsolver,
                const DistanceRequest& request,
                DistanceResult& result,
                bool use_refit = false, bool refit_bottomup = false)
{
  if(model2.getModelType() != BVH_MODEL_TRIANGLES)
    return false;
  
  if(!tf2.isIdentity())
  {
    std::vector<Vec3f> vertices_transformed(model2.num_vertices);
    for(int i = 0; i < model2.num_vertices; ++i)
    {
      Vec3f& p = model2.vertices[i];
      Vec3f new_v = tf2.transform(p);
      vertices_transformed[i] = new_v;
    }

    model2.beginReplaceModel();
    model2.replaceSubModel(vertices_transformed);
    model2.endReplaceModel(use_refit, refit_bottomup);

    tf2.setIdentity();
  }

  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;
  node.nsolver = nsolver;

  node.vertices = model2.vertices;
  node.tri_indices = model2.tri_indices;

  computeBV(model1, tf1, node.model1_bv);
  
  return true;
}

namespace details
{

template<typename BV, typename S, template<typename> class OrientedNode>
static inline bool setupMeshShapeDistanceOrientedNode(OrientedNode<S>& node, 
                                                      const BVHModel<BV>& model1, const Transform3f& tf1,
                                                      const S& model2, const Transform3f& tf2,
                                                      const GJKSolver* nsolver,
                                                      const DistanceRequest& request,
                                                      DistanceResult& result)
{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;
  node.nsolver = nsolver;

  computeBV(model2, tf2, node.model2_bv);

  node.vertices = model1.vertices;
  node.tri_indices = model1.tri_indices;

  return true;
}
}

template<typename S>
bool initialize(MeshShapeDistanceTraversalNodeRSS<S>& node,
                const BVHModel<RSS>& model1, const Transform3f& tf1,
                const S& model2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                const DistanceRequest& request, 
                DistanceResult& result)
{
  return details::setupMeshShapeDistanceOrientedNode(node, model1, tf1, model2, tf2, nsolver, request, result);
}

template<typename S>
bool initialize(MeshShapeDistanceTraversalNodekIOS<S>& node,
                const BVHModel<kIOS>& model1, const Transform3f& tf1,
                const S& model2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                const DistanceRequest& request,
                DistanceResult& result)
{
  return details::setupMeshShapeDistanceOrientedNode(node, model1, tf1, model2, tf2, nsolver, request, result);  
}

template<typename S>
bool initialize(MeshShapeDistanceTraversalNodeOBBRSS<S>& node,
                const BVHModel<OBBRSS>& model1, const Transform3f& tf1,
                const S& model2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                const DistanceRequest& request,
                DistanceResult& result)
{
  return details::setupMeshShapeDistanceOrientedNode(node, model1, tf1, model2, tf2, nsolver, request, result);
}


namespace details
{
template<typename S, typename BV, template<typename> class OrientedNode>
static inline bool setupShapeMeshDistanceOrientedNode(OrientedNode<S>& node,
                                                      const S& model1, const Transform3f& tf1,
                                                      const BVHModel<BV>& model2, const Transform3f& tf2,
                                                      const GJKSolver* nsolver,
                                                      const DistanceRequest& request,
                                                      DistanceResult& result)
{
  if(model2.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

  node.request = request;
  node.result = &result;

  node.model1 = &model1;
  node.tf1 = tf1;
  node.model2 = &model2;
  node.tf2 = tf2;
  node.nsolver = nsolver;

  computeBV(model1, tf1, node.model1_bv);

  node.vertices = model2.vertices;
  node.tri_indices = model2.tri_indices;
  node.R = tf2.getRotation();
  node.T = tf2.getTranslation();

  return true;  
}
}


template<typename S>
bool initialize(ShapeMeshDistanceTraversalNodeRSS<S>& node,
                const S& model1, const Transform3f& tf1,
                const BVHModel<RSS>& model2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                const DistanceRequest& request,
                DistanceResult& result)
{
  return details::setupShapeMeshDistanceOrientedNode(node, model1, tf1, model2, tf2, nsolver, request, result);
}

template<typename S>
bool initialize(ShapeMeshDistanceTraversalNodekIOS<S>& node,
                const S& model1, const Transform3f& tf1,
                const BVHModel<kIOS>& model2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                const DistanceRequest& request,
                DistanceResult& result)
{
  return details::setupShapeMeshDistanceOrientedNode(node, model1, tf1, model2, tf2, nsolver, request, result);
}

template<typename S>
bool initialize(ShapeMeshDistanceTraversalNodeOBBRSS<S>& node,
                const S& model1, const Transform3f& tf1,
                const BVHModel<OBBRSS>& model2, const Transform3f& tf2,
                const GJKSolver* nsolver,
                const DistanceRequest& request,
                DistanceResult& result)
{
  return details::setupShapeMeshDistanceOrientedNode(node, model1, tf1, model2, tf2, nsolver, request, result);
}

}

} // namespace hpp


#endif