118 lines
3.7 KiB
C++
118 lines
3.7 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** \author Jia Pan */
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#ifndef FCL_TRAVERSAL_NODE_BASE_H
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#define FCL_TRAVERSAL_NODE_BASE_H
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#include "fcl/vec_3f.h"
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#include "fcl/primitive.h"
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#include "fcl/BVH_front.h"
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#include "fcl/BVH_model.h"
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#include <vector>
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/** \brief Main namespace */
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namespace fcl
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{
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class TraversalNodeBase
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{
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public:
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TraversalNodeBase() : enable_statistics(false) {}
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virtual ~TraversalNodeBase();
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/** \brief Whether b is a leaf node in the first BVH tree */
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virtual bool isFirstNodeLeaf(int b) const;
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/** \brief Whether b is a leaf node in the second BVH tree */
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virtual bool isSecondNodeLeaf(int b) const;
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/** \brief Traverse the subtree of the node in the first tree first */
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virtual bool firstOverSecond(int b1, int b2) const;
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/** \brief Get the left child of the node b in the first tree */
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virtual int getFirstLeftChild(int b) const;
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/** \brief Get the right child of the node b in the first tree */
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virtual int getFirstRightChild(int b) const;
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/** \brief Get the left child of the node b in the second tree */
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virtual int getSecondLeftChild(int b) const;
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/** \brief Get the right child of the node b in the second tree */
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virtual int getSecondRightChild(int b) const;
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void enableStatistics(bool enable) { enable_statistics = enable; }
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bool enable_statistics;
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};
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class CollisionTraversalNodeBase : public TraversalNodeBase
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{
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public:
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CollisionTraversalNodeBase() : TraversalNodeBase() {}
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virtual ~CollisionTraversalNodeBase();
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/** \brief BV test between b1 and b2 */
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virtual bool BVTesting(int b1, int b2) const;
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/** \brief Leaf test between node b1 and b2, if they are both leafs */
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virtual void leafTesting(int b1, int b2) const;
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/** \brief Check whether the traversal can stop */
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virtual bool canStop() const;
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};
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class DistanceTraversalNodeBase : public TraversalNodeBase
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{
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public:
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DistanceTraversalNodeBase() : TraversalNodeBase() {}
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virtual ~DistanceTraversalNodeBase();
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virtual BVH_REAL BVTesting(int b1, int b2) const;
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virtual void leafTesting(int b1, int b2) const;
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virtual bool canStop(BVH_REAL c) const;
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};
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}
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#endif
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