BV_node-inl.h

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  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.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     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.
 */

#ifndef FCL_BV_BVNODE_INL_H
#define FCL_BV_BVNODE_INL_H

#include "fcl/geometry/bvh/BV_node.h"

namespace fcl
{

//==============================================================================
template <typename BV>
bool BVNode<BV>::overlap(const BVNode& other) const
{
  return bv.overlap(other.bv);
}

//==============================================================================
template <typename BV>
typename BVNode<BV>::S BVNode<BV>::distance(
    const BVNode& other, Vector3<S>* P1, Vector3<S>* P2) const
{
  return bv.distance(other.bv, P1, P2);
}

//==============================================================================
template <typename BV>
Vector3<typename BVNode<BV>::S> BVNode<BV>::getCenter() const
{
  return bv.center();
}

//==============================================================================
template <typename S, typename BV>
struct GetOrientationImpl
{
  static Matrix3<S> run(const BVNode<BV>& /*node*/)
  {
    return Matrix3<S>::Identity();
  }
};

//==============================================================================
template <typename BV>
Matrix3<typename BV::S> BVNode<BV>::getOrientation() const
{
  return GetOrientationImpl<typename BV::S, BV>::run(bv);
}

//==============================================================================
template <typename S>
struct GetOrientationImpl<S, OBB<S>>
{
  static Matrix3<S> run(const OBB<S>& bv)
  {
    return bv.axis;
  }
};

//==============================================================================
template <typename S>
struct GetOrientationImpl<S, RSS<S>>
{
  static Matrix3<S> run(const RSS<S>& bv)
  {
    return bv.axis;
  }
};

//==============================================================================
template <typename S>
struct GetOrientationImpl<S, OBBRSS<S>>
{
  static Matrix3<S> run(const OBBRSS<S>& bv)
  {
    return bv.obb.axis;
  }
};

} // namespace fcl

#endif