FCL  0.6.0
Flexible Collision Library
octree_shape_distance_traversal_node-inl.h
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35 
38 #ifndef FCL_TRAVERSAL_OCTREE_OCTREESHAPEDISTANCETRAVERSALNODE_INL_H
39 #define FCL_TRAVERSAL_OCTREE_OCTREESHAPEDISTANCETRAVERSALNODE_INL_H
40 
41 #include "fcl/narrowphase/detail/traversal/octree/distance/octree_shape_distance_traversal_node.h"
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
49 //==============================================================================
50 template <typename Shape, typename NarrowPhaseSolver>
51 OcTreeShapeDistanceTraversalNode<Shape, NarrowPhaseSolver>::
52 OcTreeShapeDistanceTraversalNode()
53 {
54  model1 = nullptr;
55  model2 = nullptr;
56 
57  otsolver = nullptr;
58 }
59 
60 //==============================================================================
61 template <typename Shape, typename NarrowPhaseSolver>
62 typename Shape::S
64 BVTesting(int, int) const
65 {
66  return -1;
67 }
68 
69 //==============================================================================
70 template <typename Shape, typename NarrowPhaseSolver>
72 leafTesting(int, int) const
73 {
74  otsolver->OcTreeShapeDistance(
75  model1, *model2, this->tf1, this->tf2, this->request, *this->result);
76 }
77 
78 //==============================================================================
79 template <typename Shape, typename NarrowPhaseSolver>
80 bool initialize(
82  const OcTree<typename Shape::S>& model1,
83  const Transform3<typename Shape::S>& tf1,
84  const Shape& model2,
85  const Transform3<typename Shape::S>& tf2,
86  const OcTreeSolver<NarrowPhaseSolver>* otsolver,
89 {
90  node.request = request;
91  node.result = &result;
92 
93  node.model1 = &model1;
94  node.model2 = &model2;
95 
96  node.otsolver = otsolver;
97 
98  node.tf1 = tf1;
99  node.tf2 = tf2;
100 
101  return true;
102 }
103 
104 } // namespace detail
105 } // namespace fcl
106 
107 #endif
void leafTesting(int, int) const
Leaf test between node b1 and b2, if they are both leafs.
Definition: octree_shape_distance_traversal_node-inl.h:72
Traversal node for octree-shape distance.
Definition: octree_shape_distance_traversal_node.h:59
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
distance result
Definition: distance_request.h:48
Transform3< Shape::S > tf2
configuration of second object
Definition: traversal_node_base.h:88
Algorithms for collision related with octree.
Definition: octree_solver.h:59
DistanceRequest< Shape::S > request
request setting for distance
Definition: distance_traversal_node_base.h:73
DistanceResult< Shape::S > * result
distance result kept during the traversal iteration
Definition: distance_traversal_node_base.h:76
Transform3< Shape::S > tf1
configuation of first object
Definition: traversal_node_base.h:85
request to the distance computation
Definition: distance_request.h:52
S BVTesting(int, int) const
BV test between b1 and b2.
Definition: octree_shape_distance_traversal_node-inl.h:64