hpp-fcl  1.7.8
HPP fork of FCL -- The Flexible Collision Library
BV_node.h
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35 
39 #ifndef HPP_FCL_BV_NODE_H
40 #define HPP_FCL_BV_NODE_H
41 
42 #include <hpp/fcl/data_types.h>
43 
44 #include <hpp/fcl/BV/BV.h>
45 #include <iostream>
46 
47 namespace hpp
48 {
49 namespace fcl
50 {
51 
55 
58 {
64 
68 
71 
74  : first_child(0)
75  , first_primitive(-1)
76  , num_primitives(-1)
77  {}
78 
80  bool operator==(const BVNodeBase & other) const
81  {
82  return
83  first_child == other.first_child
84  && first_primitive == other.first_primitive
85  && num_primitives == other.num_primitives;
86  }
87 
89  bool operator!=(const BVNodeBase & other) const
90  {
91  return !(*this == other);
92  }
93 
95  inline bool isLeaf() const { return first_child < 0; }
96 
98  inline int primitiveId() const { return -(first_child + 1); }
99 
101  inline int leftChild() const { return first_child; }
102 
104  inline int rightChild() const { return first_child + 1; }
105 };
106 
108 template<typename BV>
110 {
111  typedef BVNodeBase Base;
112 
114  BV bv;
115 
117  bool operator==(const BVNode & other) const
118  {
119  return Base::operator==(other) && bv == other.bv;
120  }
121 
123  bool operator!=(const BVNode & other) const
124  {
125  return !(*this == other);
126  }
127 
129  bool overlap(const BVNode& other) const
130  {
131  return bv.overlap(other.bv);
132  }
134  bool overlap(const BVNode& other, const CollisionRequest& request,
135  FCL_REAL& sqrDistLowerBound) const
136  {
137  return bv.overlap(other.bv, request, sqrDistLowerBound);
138  }
139 
141  FCL_REAL distance(const BVNode& other, Vec3f* P1 = NULL, Vec3f* P2 = NULL) const
142  {
143  return bv.distance(other.bv, P1, P2);
144  }
145 
147  Vec3f getCenter() const { return bv.center(); }
148 
150  const Matrix3f& getOrientation() const
151  {
152  static const Matrix3f id3 = Matrix3f::Identity();
153  return id3;
154  }
155 
157  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
159 };
160 
161 template<>
162 inline const Matrix3f& BVNode<OBB>::getOrientation() const
163 {
164  return bv.axes;
165 }
166 
167 template<>
168 inline const Matrix3f& BVNode<RSS>::getOrientation() const
169 {
170  return bv.axes;
171 }
172 
173 template<>
175 {
176  return bv.obb.axes;
177 }
178 
179 
180 }
181 
182 } // namespace hpp
183 
184 #endif
bool overlap(const BVNode &other) const
Check whether two BVNode collide.
Definition: BV_node.h:129
Main namespace.
Definition: AABB.h:43
BV bv
bounding volume storing the geometry
Definition: BV_node.h:114
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
BVNodeBase Base
Definition: BV_node.h:111
Vec3f getCenter() const
Access to the center of the BV.
Definition: BV_node.h:147
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:98
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:67
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:63
bool operator==(const BVNode &other) const
Equality operator.
Definition: BV_node.h:117
request to the collision algorithm
Definition: collision_data.h:208
double FCL_REAL
Definition: data_types.h:66
bool overlap(const BVNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
Check whether two BVNode collide.
Definition: BV_node.h:134
BVNodeBase()
Default constructor.
Definition: BV_node.h:73
const Matrix3f & getOrientation() const
Access to the orientation of the BV.
Definition: BV_node.h:150
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:141
bool operator!=(const BVNodeBase &other) const
Difference operator.
Definition: BV_node.h:89
A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and...
Definition: BV_node.h:109
int leftChild() const
Return the index of the first child. The index is referred to the bounding volume array (i...
Definition: BV_node.h:101
bool isLeaf() const
Whether current node is a leaf node (i.e. contains a primitive index.
Definition: BV_node.h:95
int num_primitives
The number of primitives belonging to the current node.
Definition: BV_node.h:70
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
int rightChild() const
Return the index of the second child. The index is referred to the bounding volume array (i...
Definition: BV_node.h:104
bool operator==(const BVNodeBase &other) const
Equality operator.
Definition: BV_node.h:80
bool operator!=(const BVNode &other) const
Difference operator.
Definition: BV_node.h:123
BVNodeBase encodes the tree structure for BVH.
Definition: BV_node.h:57
#define HPP_FCL_DLLAPI
Definition: config.hh:64