BV_node.h 4.64 KB
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/*
 * Software License Agreement (BSD License)
 *
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *  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.
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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
 *     from this software without specific prior written permission.
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 *  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.
 */

/** \author Jia Pan */


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#ifndef HPP_FCL_BV_NODE_H
#define HPP_FCL_BV_NODE_H
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#include <hpp/fcl/math/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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/// @brief BVNodeBase encodes the tree structure for BVH
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struct BVNodeBase
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{
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  /// @brief An index for first child node or primitive
  /// If the value is positive, it is the index of the first child bv node
  /// If the value is negative, it is -(primitive index + 1)
  /// 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 is referred to the primitive_indices in BVHModel and from that
  /// we can obtain the primitive's index in original data indirectly.
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  int first_primitive;

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  /// @brief The number of primitives belonging to the current node 
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  int num_primitives;

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  /// @brief Whether current node is a leaf node (i.e. contains a primitive 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 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 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 bounding volume array (i.e. bvs) in BVHModel
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  inline int rightChild() const { return first_child + 1; }
};

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/// @brief A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.
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template<typename BV>
struct BVNode : public BVNodeBase
{
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  /// @brief bounding volume storing the geometry
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  BV bv;
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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,
               FCL_REAL& sqrDistLowerBound) const
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  {
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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 the underlying BV supports distance, return the nearest points.
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  FCL_REAL distance(const BVNode& other, Vec3f* P1 = NULL, Vec3f* P2 = NULL) const
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  {
    return bv.distance(other.bv, P1, P2);
  }

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  /// @brief Access the center of the BV
  Vec3f getCenter() const { return bv.center(); }

  /// @brief Access the orientation of the BV
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  const Matrix3f& getOrientation() const { return Matrix3f::Identity(); }
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};

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

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} // namespace hpp

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#endif