hpp-fcl 2.4.4
HPP fork of FCL -- The Flexible Collision Library
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BV_node.h
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35
38#ifndef HPP_FCL_BV_NODE_H
39#define HPP_FCL_BV_NODE_H
40
41#include <hpp/fcl/data_types.h>
42
43#include <hpp/fcl/BV/BV.h>
44#include <iostream>
45
46namespace hpp {
47namespace fcl {
48
52
60
64 unsigned int first_primitive;
65
67 unsigned int num_primitives;
68
71 : first_child(0),
72 first_primitive(
73 (std::numeric_limits<unsigned int>::max)()) // value we should help
74 // to raise an issue
75 ,
76 num_primitives(0) {}
77
79 bool operator==(const BVNodeBase& other) const {
80 return first_child == other.first_child &&
81 first_primitive == other.first_primitive &&
82 num_primitives == other.num_primitives;
83 }
84
86 bool operator!=(const BVNodeBase& other) const { return !(*this == other); }
87
90 inline bool isLeaf() const { return first_child < 0; }
91
94 inline int primitiveId() const { return -(first_child + 1); }
95
98 inline int leftChild() const { return first_child; }
99
102 inline int rightChild() const { return first_child + 1; }
103};
104
108template <typename BV>
111
113 BV bv;
114
116 bool operator==(const BVNode& other) const {
117 return Base::operator==(other) && bv == other.bv;
118 }
119
121 bool operator!=(const BVNode& other) const { return !(*this == other); }
122
124 bool overlap(const BVNode& other) const { return bv.overlap(other.bv); }
126 bool overlap(const BVNode& other, const CollisionRequest& request,
127 FCL_REAL& sqrDistLowerBound) const {
128 return bv.overlap(other.bv, request, sqrDistLowerBound);
129 }
130
133 FCL_REAL distance(const BVNode& other, Vec3f* P1 = NULL,
134 Vec3f* P2 = NULL) const {
135 return bv.distance(other.bv, P1, P2);
136 }
137
139 Vec3f getCenter() const { return bv.center(); }
140
142 const Matrix3f& getOrientation() const {
143 static const Matrix3f id3 = Matrix3f::Identity();
144 return id3;
145 }
146
148 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
150};
151
152template <>
154 return bv.axes;
155}
156
157template <>
159 return bv.axes;
160}
161
162template <>
164 return bv.obb.axes;
165}
166
167} // namespace fcl
168
169} // namespace hpp
170
171#endif
#define HPP_FCL_DLLAPI
Definition: config.hh:88
int first_child
An index for first child node or primitive If the value is positive, it is the index of the first chi...
Definition: BV_node.h:59
bool operator!=(const BVNodeBase &other) const
Difference operator.
Definition: BV_node.h:86
bool operator!=(const BVNode &other) const
Difference operator.
Definition: BV_node.h:121
unsigned int first_primitive
The start id the primitive belonging to the current node. The index is referred to the primitive_indi...
Definition: BV_node.h:64
int rightChild() const
Return the index of the second child. The index is referred to the bounding volume array (i....
Definition: BV_node.h:102
int leftChild() const
Return the index of the first child. The index is referred to the bounding volume array (i....
Definition: BV_node.h:98
FCL_REAL distance(const BVNode &other, Vec3f *P1=NULL, Vec3f *P2=NULL) const
Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distan...
Definition: BV_node.h:133
BV bv
bounding volume storing the geometry
Definition: BV_node.h:113
BVNodeBase()
Default constructor.
Definition: BV_node.h:70
const Matrix3f & getOrientation() const
Access to the orientation of the BV.
Definition: BV_node.h:142
bool operator==(const BVNodeBase &other) const
Equality operator.
Definition: BV_node.h:79
bool operator==(const BVNode &other) const
Equality operator.
Definition: BV_node.h:116
BVNodeBase Base
Definition: BV_node.h:110
unsigned int num_primitives
The number of primitives belonging to the current node.
Definition: BV_node.h:67
Vec3f getCenter() const
Access to the center of the BV.
Definition: BV_node.h:139
bool isLeaf() const
Whether current node is a leaf node (i.e. contains a primitive index.
Definition: BV_node.h:90
int primitiveId() const
Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices)...
Definition: BV_node.h:94
bool overlap(const BVNode &other) const
Check whether two BVNode collide.
Definition: BV_node.h:124
bool overlap(const BVNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
Check whether two BVNode collide.
Definition: BV_node.h:126
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
double FCL_REAL
Definition: data_types.h:65
Main namespace.
Definition: broadphase_bruteforce.h:44
BVNodeBase encodes the tree structure for BVH.
Definition: BV_node.h:54
A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and...
Definition: BV_node.h:109
request to the collision algorithm
Definition: collision_data.h:235