BV_node.h 5.09 KB
Newer Older
sachinc's avatar
sachinc committed
1
2
3
/*
 * Software License Agreement (BSD License)
 *
4
5
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
sachinc's avatar
sachinc committed
6
7
8
9
10
11
12
13
14
15
16
17
 *  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.
18
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
sachinc's avatar
sachinc committed
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
 *     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.
 */

/** \author Jia Pan */


#ifndef FCL_BV_NODE_H
#define FCL_BV_NODE_H

42
43
#include <hpp/fcl/math/vec_3f.h>
#include <hpp/fcl/math/matrix_3f.h>
jpan's avatar
   
jpan committed
44

45
#include <hpp/fcl/BV/BV.h>
jpan's avatar
jpan committed
46
#include <iostream>
jpan's avatar
   
jpan committed
47

sachinc's avatar
sachinc committed
48
49
50
namespace fcl
{

jpan's avatar
jpan committed
51
/// @brief BVNodeBase encodes the tree structure for BVH
jpan's avatar
   
jpan committed
52
struct BVNodeBase
sachinc's avatar
sachinc committed
53
{
jpan's avatar
jpan committed
54
55
56
57
  /// @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.
sachinc's avatar
sachinc committed
58
59
  int first_child;

jpan's avatar
jpan committed
60
61
  /// @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.
sachinc's avatar
sachinc committed
62
63
  int first_primitive;

jpan's avatar
jpan committed
64
  /// @brief The number of primitives belonging to the current node 
sachinc's avatar
sachinc committed
65
66
  int num_primitives;

jpan's avatar
jpan committed
67
  /// @brief Whether current node is a leaf node (i.e. contains a primitive index
jpan's avatar
   
jpan committed
68
  inline bool isLeaf() const { return first_child < 0; }
sachinc's avatar
sachinc committed
69

jpan's avatar
jpan committed
70
  /// @brief Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel
jpan's avatar
   
jpan committed
71
  inline int primitiveId() const { return -(first_child + 1); }
sachinc's avatar
sachinc committed
72

jpan's avatar
jpan committed
73
  /// @brief Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel
jpan's avatar
   
jpan committed
74
  inline int leftChild() const { return first_child; }
sachinc's avatar
sachinc committed
75

jpan's avatar
jpan committed
76
  /// @brief Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel
jpan's avatar
   
jpan committed
77
78
79
  inline int rightChild() const { return first_child + 1; }
};

jpan's avatar
jpan committed
80
/// @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.
jpan's avatar
   
jpan committed
81
82
83
template<typename BV>
struct BVNode : public BVNodeBase
{
jpan's avatar
jpan committed
84
  /// @brief bounding volume storing the geometry
jpan's avatar
   
jpan committed
85
  BV bv;
sachinc's avatar
sachinc committed
86

jpan's avatar
jpan committed
87
  /// @brief Check whether two BVNode collide
sachinc's avatar
sachinc committed
88
89
90
91
  bool overlap(const BVNode& other) const
  {
    return bv.overlap(other.bv);
  }
92
93
94
95
96
  /// @brief Check whether two BVNode collide
  bool overlap(const BVNode& other, FCL_REAL& sqrDistLowerBound) const
  {
    return bv.overlap(other.bv, sqrDistLowerBound);
  }
sachinc's avatar
sachinc committed
97

jpan's avatar
jpan committed
98
  /// @brief Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.
99
  FCL_REAL distance(const BVNode& other, Vec3f* P1 = NULL, Vec3f* P2 = NULL) const
sachinc's avatar
sachinc committed
100
101
102
103
  {
    return bv.distance(other.bv, P1, P2);
  }

jpan's avatar
jpan committed
104
105
106
107
  /// @brief Access the center of the BV
  Vec3f getCenter() const { return bv.center(); }

  /// @brief Access the orientation of the BV
jpan's avatar
   
jpan committed
108
109
110
111
  Matrix3f getOrientation() const { return Matrix3f::getIdentity(); }
};

template<>
jpan's avatar
jpan committed
112
inline Matrix3f BVNode<OBB>::getOrientation() const 
jpan's avatar
   
jpan committed
113
{
jpan's avatar
jpan committed
114
115
116
117
  return Matrix3f(bv.axis[0][0], bv.axis[1][0], bv.axis[2][0],
                  bv.axis[0][1], bv.axis[1][1], bv.axis[2][1],
                  bv.axis[0][2], bv.axis[1][2], bv.axis[2][2]);
}
jpan's avatar
   
jpan committed
118
119

template<>
jpan's avatar
jpan committed
120
inline Matrix3f BVNode<RSS>::getOrientation() const 
jpan's avatar
   
jpan committed
121
{
jpan's avatar
jpan committed
122
123
124
125
  return Matrix3f(bv.axis[0][0], bv.axis[1][0], bv.axis[2][0],
                  bv.axis[0][1], bv.axis[1][1], bv.axis[2][1],
                  bv.axis[0][2], bv.axis[1][2], bv.axis[2][2]);
}
jpan's avatar
   
jpan committed
126

jpan's avatar
jpan committed
127
128
129
130
131
132
133
template<>
inline Matrix3f BVNode<OBBRSS>::getOrientation() const 
{
  return Matrix3f(bv.obb.axis[0][0], bv.obb.axis[1][0], bv.obb.axis[2][0],
                  bv.obb.axis[0][1], bv.obb.axis[1][1], bv.obb.axis[2][1],
                  bv.obb.axis[0][2], bv.obb.axis[1][2], bv.obb.axis[2][2]);
}
jpan's avatar
   
jpan committed
134

sachinc's avatar
sachinc committed
135
136
137
138

}

#endif