FCL  0.6.0
Flexible Collision Library
cost_source-inl.h
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35 
38 #ifndef FCL_COSTSOURCE_INL_H
39 #define FCL_COSTSOURCE_INL_H
40 
41 #include "fcl/narrowphase/cost_source.h"
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 extern template
48 struct CostSource<double>;
49 
50 //==============================================================================
51 template <typename S>
52 CostSource<S>::CostSource(
53  const Vector3<S>& aabb_min_,
54  const Vector3<S>& aabb_max_,
55  S cost_density_)
56  : aabb_min(aabb_min_),
57  aabb_max(aabb_max_),
58  cost_density(cost_density_)
59 {
60  total_cost = cost_density
61  * (aabb_max[0] - aabb_min[0])
62  * (aabb_max[1] - aabb_min[1])
63  * (aabb_max[2] - aabb_min[2]);
64 }
65 
66 //==============================================================================
67 template <typename S>
68 CostSource<S>::CostSource(const AABB<S>& aabb, S cost_density_)
69  : aabb_min(aabb.min_), aabb_max(aabb.max_), cost_density(cost_density_)
70 {
71  total_cost = cost_density
72  * (aabb_max[0] - aabb_min[0])
73  * (aabb_max[1] - aabb_min[1])
74  * (aabb_max[2] - aabb_min[2]);
75 }
76 
77 //==============================================================================
78 template <typename S>
79 CostSource<S>::CostSource()
80 {
81  // Do nothing
82 }
83 
84 //==============================================================================
85 template <typename S>
86 bool CostSource<S>::operator <(const CostSource& other) const
87 {
88  if(total_cost < other.total_cost)
89  return false;
90  if(total_cost > other.total_cost)
91  return true;
92 
93  if(cost_density < other.cost_density)
94  return false;
95  if(cost_density > other.cost_density)
96  return true;
97 
98  for(size_t i = 0; i < 3; ++i)
99  if(aabb_min[i] != other.aabb_min[i])
100  return aabb_min[i] < other.aabb_min[i];
101 
102  return false;
103 }
104 
105 } // namespace fcl
106 
107 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45