traversal_node_setup.cpp 4.01 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.
 *
 *  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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#include <hpp/fcl/traversal/traversal_node_setup.h>
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namespace hpp
{
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namespace fcl
{
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namespace details
{
template<typename BV, typename OrientedNode>
static inline bool setupMeshDistanceOrientedNode(OrientedNode& node,
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                                                 const BVHModel<BV>& model1, const Transform3f& tf1,
                                                 const BVHModel<BV>& model2, const Transform3f& tf2,
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                                                 const DistanceRequest& request,
                                                 DistanceResult& result)
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{
  if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
    return false;

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  node.request = request;
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  node.result = &result;
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  node.model1 = &model1;
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  node.tf1 = tf1;
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  node.model2 = &model2;
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  node.tf2 = tf2;
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  node.vertices1 = model1.vertices;
  node.vertices2 = model2.vertices;

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

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  relativeTransform(tf1.getRotation(), tf1.getTranslation(), tf2.getRotation(), tf2.getTranslation(), node.R, node.T);
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  return true;
}


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}

bool initialize(MeshDistanceTraversalNodeRSS& node,
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                const BVHModel<RSS>& model1, const Transform3f& tf1,
                const BVHModel<RSS>& model2, const Transform3f& tf2,
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                const DistanceRequest& request,
                DistanceResult& result)
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{
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  return details::setupMeshDistanceOrientedNode(node, model1, tf1, model2, tf2, request, result);
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}


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bool initialize(MeshDistanceTraversalNodekIOS& node,
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                const BVHModel<kIOS>& model1, const Transform3f& tf1,
                const BVHModel<kIOS>& model2, const Transform3f& tf2,
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                const DistanceRequest& request,
                DistanceResult& result)
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{
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  return details::setupMeshDistanceOrientedNode(node, model1, tf1, model2, tf2, request, result);
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}

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bool initialize(MeshDistanceTraversalNodeOBBRSS& node,
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                const BVHModel<OBBRSS>& model1, const Transform3f& tf1,
                const BVHModel<OBBRSS>& model2, const Transform3f& tf2,
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                const DistanceRequest& request,
                DistanceResult& result)
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{
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  return details::setupMeshDistanceOrientedNode(node, model1, tf1, model2, tf2, request, result);
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}

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namespace details
{


}

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}
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} // namespace hpp