diff --git a/trunk/fcl/include/fcl/geometric_shapes_utility.h b/trunk/fcl/include/fcl/geometric_shapes_utility.h
index 2e2868077243c4f93b99037248607133ff53f605..94c9e02720e521afb0453b8a19d343e4a3ab11e9 100644
--- a/trunk/fcl/include/fcl/geometric_shapes_utility.h
+++ b/trunk/fcl/include/fcl/geometric_shapes_utility.h
@@ -43,74 +43,89 @@
namespace fcl
{
- template<typename BV>
- void computeBV(const Box& s, const SimpleTransform& tf, BV& bv) {}
- template<typename BV>
- void computeBV(const Sphere& s, const SimpleTransform& tf, BV& bv) {}
+namespace details
+{
+std::vector<Vec3f> getBoundVertices(const Box& box, const SimpleTransform& tf);
+std::vector<Vec3f> getBoundVertices(const Sphere& sphere, const SimpleTransform& tf);
+std::vector<Vec3f> getBoundVertices(const Capsule& capsule, const SimpleTransform& tf);
+std::vector<Vec3f> getBoundVertices(const Cone& cone, const SimpleTransform& tf);
+std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder, const SimpleTransform& tf);
+
+} // end detail
+
+
+template<typename BV, typename S>
+void computeBV(const S& s, const SimpleTransform& tf, BV& bv)
+{
+ std::vector<Vec3f> convex_bound_vertices = details::getBoundVertices(s, tf);
+ fit(&convex_bound_vertices[0], (int)convex_bound_vertices.size(), bv);
+}
+
+template<>
+void computeBV<AABB, Box>(const Box& s, const SimpleTransform& tf, AABB& bv);
+
+template<>
+void computeBV<AABB, Sphere>(const Sphere& s, const SimpleTransform& tf, AABB& bv);
+
+template<>
+void computeBV<AABB, Capsule>(const Capsule& s, const SimpleTransform& tf, AABB& bv);
+
+template<>
+void computeBV<AABB, Cone>(const Cone& s, const SimpleTransform& tf, AABB& bv);
- template<typename BV>
- void computeBV(const Capsule& s, const SimpleTransform& tf, BV& bv) {}
+template<>
+void computeBV<AABB, Cylinder>(const Cylinder& s, const SimpleTransform& tf, AABB& bv);
- template<typename BV>
- void computeBV(const Cone& s, const SimpleTransform& tf, BV& bv) {}
+template<>
+void computeBV<AABB, Convex>(const Convex& s, const SimpleTransform& tf, AABB& bv);
- template<typename BV>
- void computeBV(const Cylinder& s, const SimpleTransform& tf, BV& bv) {}
- template<typename BV>
- void computeBV(const Convex& s, const SimpleTransform& tf, BV& bv) {}
+/** the bounding volume for half space back of plane for OBB, it is the plane itself */
+template<>
+void computeBV<AABB, Plane>(const Plane& s, const SimpleTransform& tf, AABB& bv);
- /** the bounding volume for half space back of plane
- * for OBB, it is the plane itself
- */
- template<typename BV>
- void computeBV(const Plane& s, const SimpleTransform& tf, BV& bv) {}
- /** For AABB */
- template<>
- void computeBV<AABB>(const Box& s, const SimpleTransform& tf, AABB& bv);
- template<>
- void computeBV<AABB>(const Sphere& s, const SimpleTransform& tf, AABB& bv);
+template<>
+void computeBV<OBB, Box>(const Box& s, const SimpleTransform& tf, OBB& bv);
- template<>
- void computeBV<AABB>(const Capsule& s, const SimpleTransform& tf, AABB& bv);
+template<>
+void computeBV<OBB, Sphere>(const Sphere& s, const SimpleTransform& tf, OBB& bv);
- template<>
- void computeBV<AABB>(const Cone& s, const SimpleTransform& tf, AABB& bv);
+template<>
+void computeBV<OBB, Capsule>(const Capsule& s, const SimpleTransform& tf, OBB& bv);
- template<>
- void computeBV<AABB>(const Cylinder& s, const SimpleTransform& tf, AABB& bv);
+template<>
+void computeBV<OBB, Cone>(const Cone& s, const SimpleTransform& tf, OBB& bv);
- template<>
- void computeBV<AABB>(const Convex& s, const SimpleTransform& tf, AABB& bv);
+template<>
+void computeBV<OBB, Cylinder>(const Cylinder& s, const SimpleTransform& tf, OBB& bv);
- template<>
- void computeBV<AABB>(const Plane& s, const SimpleTransform& tf, AABB& bv);
+template<>
+void computeBV<OBB, Convex>(const Convex& s, const SimpleTransform& tf, OBB& bv);
- template<>
- void computeBV<OBB>(const Box& s, const SimpleTransform& tf, OBB& bv);
+template<>
+void computeBV<OBB, Plane>(const Plane& s, const SimpleTransform& tf, OBB& bv);
- template<>
- void computeBV<OBB>(const Sphere& s, const SimpleTransform& tf, OBB& bv);
+template<>
+void computeBV<RSS, Plane>(const Plane& s, const SimpleTransform& tf, RSS& bv);
- template<>
- void computeBV<OBB>(const Capsule& s, const SimpleTransform& tf, OBB& bv);
+template<>
+void computeBV<OBBRSS, Plane>(const Plane& s, const SimpleTransform& tf, OBBRSS& bv);
- template<>
- void computeBV<OBB>(const Cone& s, const SimpleTransform& tf, OBB& bv);
+template<>
+void computeBV<kIOS, Plane>(const Plane& s, const SimpleTransform& tf, kIOS& bv);
- template<>
- void computeBV<OBB>(const Cylinder& s, const SimpleTransform& tf, OBB& bv);
+template<>
+void computeBV<KDOP<16>, Plane>(const Plane& s, const SimpleTransform& tf, KDOP<16>& bv);
- template<>
- void computeBV<OBB>(const Convex& s, const SimpleTransform& tf, OBB& bv);
+template<>
+void computeBV<KDOP<18>, Plane>(const Plane& s, const SimpleTransform& tf, KDOP<18>& bv);
- template<>
- void computeBV<OBB>(const Plane& s, const SimpleTransform& tf, OBB& bv);
+template<>
+void computeBV<KDOP<24>, Plane>(const Plane& s, const SimpleTransform& tf, KDOP<24>& bv);
- // TODO: implement computeBV for RSS and KDOP
}
#endif
diff --git a/trunk/fcl/include/fcl/simple_setup.h b/trunk/fcl/include/fcl/simple_setup.h
index 9735f336eac6a7eccca7789a1b165b99f307b039..35369ea8d8f2edc1b0a09e8eb0e139d0d0bab29b 100644
--- a/trunk/fcl/include/fcl/simple_setup.h
+++ b/trunk/fcl/include/fcl/simple_setup.h
@@ -95,6 +95,8 @@ bool initialize(MeshShapeCollisionTraversalNode<BV, S>& node,
node.model2 = &model2;
node.tf2 = tf2;
+ computeBV(model2, tf2, node.model2_bv);
+
node.vertices = model1.vertices;
node.tri_indices = model1.tri_indices;
node.num_max_contacts = num_max_contacts;
@@ -138,6 +140,8 @@ bool initialize(ShapeMeshCollisionTraversalNode<S, BV>& node,
node.model2 = &model2;
node.tf2 = tf2;
+ computeBV(model1, tf1, node.model1_bv);
+
node.vertices = model2.vertices;
node.tri_indices = model2.tri_indices;
node.num_max_contacts = num_max_contacts;
@@ -164,6 +168,8 @@ bool initialize(MeshShapeCollisionTraversalNodeOBB<S>& node,
node.model2 = &model2;
node.tf2 = tf2;
+ computeBV(model2, tf2, node.model2_bv);
+
node.vertices = model1.vertices;
node.tri_indices = model1.tri_indices;
node.num_max_contacts = num_max_contacts;
@@ -192,6 +198,8 @@ bool initialize(ShapeMeshCollisionTraversalNodeOBB<S>& node,
node.model2 = &model2;
node.tf2 = tf2;
+ computeBV(model1, tf1, node.model1_bv);
+
node.vertices = model2.vertices;
node.tri_indices = model2.tri_indices;
node.num_max_contacts = num_max_contacts;
diff --git a/trunk/fcl/include/fcl/traversal_node_bvh_shape.h b/trunk/fcl/include/fcl/traversal_node_bvh_shape.h
index 90292ca956f72b92b1094c22ddec3d8def76ac96..6a9ffbbbb893b9cb8f490b10f72810eafab21b8f 100644
--- a/trunk/fcl/include/fcl/traversal_node_bvh_shape.h
+++ b/trunk/fcl/include/fcl/traversal_node_bvh_shape.h
@@ -78,13 +78,12 @@ public:
bool BVTesting(int b1, int b2) const
{
if(this->enable_statistics) num_bv_tests++;
- BV bv_shape;
- computeBV(*model2, tf2, bv_shape);
- return !model1->getBV(b1).bv.overlap(bv_shape);
+ return !model1->getBV(b1).bv.overlap(model2_bv);
}
const BVHModel<BV>* model1;
const S* model2;
+ BV model2_bv;
mutable int num_bv_tests;
mutable int num_leaf_tests;
@@ -129,13 +128,12 @@ public:
bool BVTesting(int b1, int b2) const
{
if(this->enable_statistics) num_bv_tests++;
- BV bv_shape;
- computeBV(*model1, tf1, bv_shape);
- return !model2->getBV(b2).bv.overlap(bv_shape);
+ return !model2->getBV(b2).bv.overlap(model1_bv);
}
const S* model1;
const BVHModel<BV>* model2;
+ BV model1_bv;
mutable int num_bv_tests;
mutable int num_leaf_tests;
@@ -250,9 +248,7 @@ public:
bool BVTesting(int b1, int b2) const
{
if(this->enable_statistics) this->num_bv_tests++;
- OBB bv_shape;
- computeBV(*this->model2, this->tf2, bv_shape);
- return !overlap(R, T, bv_shape, this->model1->getBV(b1).bv);
+ return !overlap(R, T, this->model2_bv, this->model1->getBV(b1).bv);
}
void leafTesting(int b1, int b2) const
@@ -368,9 +364,7 @@ public:
bool BVTesting(int b1, int b2) const
{
if(this->enable_statistics) this->num_bv_tests++;
- OBB bv_shape;
- computeBV(*this->model1, this->tf1, bv_shape);
- return !overlap(R, T, bv_shape, this->model2->getBV(b2).bv);
+ return !overlap(R, T, this->model1_bv, this->model2->getBV(b2).bv);
}
void leafTesting(int b1, int b2) const
diff --git a/trunk/fcl/src/geometric_shapes_utility.cpp b/trunk/fcl/src/geometric_shapes_utility.cpp
index d39a2d117ef4344145852b841c1048fafb7ecc8e..e1c7efc4bf88ccb431a3a028b2982cdf2eae8201 100644
--- a/trunk/fcl/src/geometric_shapes_utility.cpp
+++ b/trunk/fcl/src/geometric_shapes_utility.cpp
@@ -41,8 +41,162 @@
namespace fcl
{
+namespace details
+{
+
+std::vector<Vec3f> getBoundVertices(const Box& box, const SimpleTransform& tf)
+{
+ std::vector<Vec3f> result(8);
+ BVH_REAL a = box.side[0] / 2;
+ BVH_REAL b = box.side[1] / 2;
+ BVH_REAL c = box.side[2] / 2;
+ result[0] = tf.transform(Vec3f(a, b, c));
+ result[1] = tf.transform(Vec3f(a, b, -c));
+ result[2] = tf.transform(Vec3f(a, -b, c));
+ result[3] = tf.transform(Vec3f(a, -b, -c));
+ result[4] = tf.transform(Vec3f(-a, b, c));
+ result[5] = tf.transform(Vec3f(-a, b, -c));
+ result[6] = tf.transform(Vec3f(-a, -b, c));
+ result[7] = tf.transform(Vec3f(-a, -b, -c));
+
+ return result;
+}
+
+// we use icosahedron to bound the sphere
+std::vector<Vec3f> getBoundVertices(const Sphere& sphere, const SimpleTransform& tf)
+{
+ std::vector<Vec3f> result(12);
+ const BVH_REAL m = (1 + sqrt(5.0)) / 2.0;
+ BVH_REAL edge_size = sphere.radius * 6 / (sqrt(27.0) + sqrt(15.0));
+
+ BVH_REAL a = edge_size;
+ BVH_REAL b = m * edge_size;
+ result[0] = tf.transform(Vec3f(0, a, b));
+ result[1] = tf.transform(Vec3f(0, -a, b));
+ result[2] = tf.transform(Vec3f(0, a, -b));
+ result[3] = tf.transform(Vec3f(0, -a, -b));
+ result[4] = tf.transform(Vec3f(a, b, 0));
+ result[5] = tf.transform(Vec3f(-a, b, 0));
+ result[6] = tf.transform(Vec3f(a, -b, 0));
+ result[7] = tf.transform(Vec3f(-a, -b, 0));
+ result[8] = tf.transform(Vec3f(b, 0, a));
+ result[9] = tf.transform(Vec3f(b, 0, -a));
+ result[10] = tf.transform(Vec3f(-b, 0, a));
+ result[11] = tf.transform(Vec3f(-b, 0, -a));
+
+ return result;
+}
+
+std::vector<Vec3f> getBoundVertices(const Capsule& capsule, const SimpleTransform& tf)
+{
+ std::vector<Vec3f> result(36);
+ const BVH_REAL m = (1 + sqrt(5.0)) / 2.0;
+
+ BVH_REAL hl = capsule.lz * 0.5;
+ BVH_REAL edge_size = capsule.radius * 6 / (sqrt(27.0) + sqrt(15.0));
+ BVH_REAL a = edge_size;
+ BVH_REAL b = m * edge_size;
+ BVH_REAL r2 = capsule.radius * 2 / sqrt(3.0);
+
+
+ result[0] = tf.transform(Vec3f(0, a, b + hl));
+ result[1] = tf.transform(Vec3f(0, -a, b + hl));
+ result[2] = tf.transform(Vec3f(0, a, -b + hl));
+ result[3] = tf.transform(Vec3f(0, -a, -b + hl));
+ result[4] = tf.transform(Vec3f(a, b, hl));
+ result[5] = tf.transform(Vec3f(-a, b, hl));
+ result[6] = tf.transform(Vec3f(a, -b, hl));
+ result[7] = tf.transform(Vec3f(-a, -b, hl));
+ result[8] = tf.transform(Vec3f(b, 0, a + hl));
+ result[9] = tf.transform(Vec3f(b, 0, -a + hl));
+ result[10] = tf.transform(Vec3f(-b, 0, a + hl));
+ result[11] = tf.transform(Vec3f(-b, 0, -a + hl));
+
+ result[12] = tf.transform(Vec3f(0, a, b - hl));
+ result[13] = tf.transform(Vec3f(0, -a, b - hl));
+ result[14] = tf.transform(Vec3f(0, a, -b - hl));
+ result[15] = tf.transform(Vec3f(0, -a, -b - hl));
+ result[16] = tf.transform(Vec3f(a, b, -hl));
+ result[17] = tf.transform(Vec3f(-a, b, -hl));
+ result[18] = tf.transform(Vec3f(a, -b, -hl));
+ result[19] = tf.transform(Vec3f(-a, -b, -hl));
+ result[20] = tf.transform(Vec3f(b, 0, a - hl));
+ result[21] = tf.transform(Vec3f(b, 0, -a - hl));
+ result[22] = tf.transform(Vec3f(-b, 0, a - hl));
+ result[23] = tf.transform(Vec3f(-b, 0, -a - hl));
+
+ BVH_REAL c = 0.5 * r2;
+ BVH_REAL d = capsule.radius;
+ result[24] = tf.transform(Vec3f(r2, 0, hl));
+ result[25] = tf.transform(Vec3f(c, d, hl));
+ result[26] = tf.transform(Vec3f(-c, d, hl));
+ result[27] = tf.transform(Vec3f(-r0, 0, hl));
+ result[28] = tf.transform(Vec3f(-c, -d, hl));
+ result[29] = tf.transform(Vec3f(c, -d, hl));
+
+ result[30] = tf.transform(Vec3f(r2, 0, -hl));
+ result[31] = tf.transform(Vec3f(c, d, -hl));
+ result[32] = tf.transform(Vec3f(-c, d, -hl));
+ result[33] = tf.transform(Vec3f(-r0, 0, -hl));
+ result[34] = tf.transform(Vec3f(-c, -d, -hl));
+ result[35] = tf.transform(Vec3f(c, -d, -hl));
+
+ return result;
+}
+
+
+std::vector<Vec3f> getBoundVertices(const Cone& cone, const SimpleTransform& tf)
+{
+ std::vector<Vec3f> result(7);
+
+ BVH_REAL hl = cone.lz * 0.5;
+ BVH_REAL r2 = cone.radius * 2 / sqrt(3.0);
+ BVH_REAL a = 0.5 * r2;
+ BVH_REAL b = cone.radius;
+
+ result[0] = tf.transform(Vec3f(r2, 0, -hl));
+ result[1] = tf.transform(Vec3f(c, d, -hl));
+ result[2] = tf.transform(Vec3f(-c, d, -hl));
+ result[3] = tf.transform(Vec3f(-r0, 0, -hl));
+ result[4] = tf.transform(Vec3f(-c, -d, -hl));
+ result[5] = tf.transform(Vec3f(c, -d, -hl));
+
+ result[6] = tf.transform(Vec3f(0, 0, hl));
+
+ return result;
+}
+
+std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder, const SimpleTransform& tf)
+{
+ std::vector<Vec3f> result;
+
+ BVH_REAL hl = cylinder.lz * 0.5;
+ BVH_REAL r2 = cylinder.radius * 2 / sqrt(3.0);
+ BVH_REAL a = 0.5 * r2;
+ BVH_REAL b = cylinder.radius;
+
+ result[0] = tf.transform(Vec3f(r2, 0, -hl));
+ result[1] = tf.transform(Vec3f(c, d, -hl));
+ result[2] = tf.transform(Vec3f(-c, d, -hl));
+ result[3] = tf.transform(Vec3f(-r0, 0, -hl));
+ result[4] = tf.transform(Vec3f(-c, -d, -hl));
+ result[5] = tf.transform(Vec3f(c, -d, -hl));
+
+ result[6] = tf.transform(Vec3f(r2, 0, hl));
+ result[7] = tf.transform(Vec3f(c, d, hl));
+ result[8] = tf.transform(Vec3f(-c, d, hl));
+ result[9] = tf.transform(Vec3f(-r0, 0, hl));
+ result[10] = tf.transform(Vec3f(-c, -d, hl));
+ result[11] = tf.transform(Vec3f(c, -d, hl));
+
+ return result;
+}
+
+} // end detail
+
+
template<>
-void computeBV<AABB>(const Box& s, const SimpleTransform& tf, AABB& bv)
+void computeBV<AABB, Box>(const Box& s, const SimpleTransform& tf, AABB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -56,7 +210,7 @@ void computeBV<AABB>(const Box& s, const SimpleTransform& tf, AABB& bv)
}
template<>
-void computeBV<AABB>(const Sphere& s, const SimpleTransform& tf, AABB& bv)
+void computeBV<AABB, Sphere>(const Sphere& s, const SimpleTransform& tf, AABB& bv)
{
const Vec3f& T = tf.getTranslation();
@@ -65,7 +219,7 @@ void computeBV<AABB>(const Sphere& s, const SimpleTransform& tf, AABB& bv)
}
template<>
-void computeBV<AABB>(const Capsule& s, const SimpleTransform& tf, AABB& bv)
+void computeBV<AABB, Capsule>(const Capsule& s, const SimpleTransform& tf, AABB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -79,7 +233,7 @@ void computeBV<AABB>(const Capsule& s, const SimpleTransform& tf, AABB& bv)
}
template<>
-void computeBV<AABB>(const Cone& s, const SimpleTransform& tf, AABB& bv)
+void computeBV<AABB, Cone>(const Cone& s, const SimpleTransform& tf, AABB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -93,7 +247,7 @@ void computeBV<AABB>(const Cone& s, const SimpleTransform& tf, AABB& bv)
}
template<>
-void computeBV<AABB>(const Cylinder& s, const SimpleTransform& tf, AABB& bv)
+void computeBV<AABB, Cylinder>(const Cylinder& s, const SimpleTransform& tf, AABB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -107,7 +261,7 @@ void computeBV<AABB>(const Cylinder& s, const SimpleTransform& tf, AABB& bv)
}
template<>
-void computeBV<AABB>(const Convex& s, const SimpleTransform& tf, AABB& bv)
+void computeBV<AABB, Convex>(const Convex& s, const SimpleTransform& tf, AABB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -123,7 +277,7 @@ void computeBV<AABB>(const Convex& s, const SimpleTransform& tf, AABB& bv)
}
template<>
-void computeBV<AABB>(const Plane& s, const SimpleTransform& tf, AABB& bv)
+void computeBV<AABB, Plane>(const Plane& s, const SimpleTransform& tf, AABB& bv)
{
const Matrix3f& R = tf.getRotation();
@@ -154,7 +308,7 @@ void computeBV<AABB>(const Plane& s, const SimpleTransform& tf, AABB& bv)
template<>
-void computeBV<OBB>(const Box& s, const SimpleTransform& tf, OBB& bv)
+void computeBV<OBB, Box>(const Box& s, const SimpleTransform& tf, OBB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -167,7 +321,7 @@ void computeBV<OBB>(const Box& s, const SimpleTransform& tf, OBB& bv)
}
template<>
-void computeBV<OBB>(const Sphere& s, const SimpleTransform& tf, OBB& bv)
+void computeBV<OBB, Sphere>(const Sphere& s, const SimpleTransform& tf, OBB& bv)
{
const Vec3f& T = tf.getTranslation();
@@ -179,7 +333,7 @@ void computeBV<OBB>(const Sphere& s, const SimpleTransform& tf, OBB& bv)
}
template<>
-void computeBV<OBB>(const Capsule& s, const SimpleTransform& tf, OBB& bv)
+void computeBV<OBB, Capsule>(const Capsule& s, const SimpleTransform& tf, OBB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -192,7 +346,7 @@ void computeBV<OBB>(const Capsule& s, const SimpleTransform& tf, OBB& bv)
}
template<>
-void computeBV<OBB>(const Cone& s, const SimpleTransform& tf, OBB& bv)
+void computeBV<OBB, Cone>(const Cone& s, const SimpleTransform& tf, OBB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -205,7 +359,7 @@ void computeBV<OBB>(const Cone& s, const SimpleTransform& tf, OBB& bv)
}
template<>
-void computeBV<OBB>(const Cylinder& s, const SimpleTransform& tf, OBB& bv)
+void computeBV<OBB, Cylinder>(const Cylinder& s, const SimpleTransform& tf, OBB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -218,7 +372,7 @@ void computeBV<OBB>(const Cylinder& s, const SimpleTransform& tf, OBB& bv)
}
template<>
-void computeBV<OBB>(const Convex& s, const SimpleTransform& tf, OBB& bv)
+void computeBV<OBB, Convex>(const Convex& s, const SimpleTransform& tf, OBB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -230,11 +384,10 @@ void computeBV<OBB>(const Convex& s, const SimpleTransform& tf, OBB& bv)
bv.axis[2] = R * bv.axis[2];
bv.To = R * bv.To + T;
-
}
template<>
-void computeBV<OBB>(const Plane& s, const SimpleTransform& tf, OBB& bv)
+void computeBV<OBB, Plane>(const Plane& s, const SimpleTransform& tf, OBB& bv)
{
const Matrix3f& R = tf.getRotation();
const Vec3f& T = tf.getTranslation();
@@ -249,6 +402,46 @@ void computeBV<OBB>(const Plane& s, const SimpleTransform& tf, OBB& bv)
bv.To = R * p + T;
}
+template<>
+void computeBV<RSS, Plane>(const Plane& s, const SimpleTransform& tf, RSS& bv)
+{
+ const Matrix3f& R = tf.getRotation();
+ const Vec3f& T = tf.getTranslation();
+
+ generateCoordinateSystem(s.n, bv.axis[1], bv.axis[2]);
+ bv.axis[0] = s.n;
+
+ bv.l[0] = std::numeric_limits<BVH_REAL>::max();
+ bv.l[1] = std::numeric_limits<BVH_REAL>::max();
+
+ bv.r = std::numeric_limits<BVH_REAL>::max();
+}
+
+template<>
+void computeBV<OBBRSS, Plane>(const Plane& s, const SimpleTransform& tf, OBBRSS& bv)
+{
+}
+
+template<>
+void computeBV<kIOS, Plane>(const Plane& s, const SimpleTransform& tf, kIOS& bv)
+{
+}
+
+template<>
+void computeBV<KDOP<16>, Plane>(const Plane& s, const SimpleTransform& tf, KDOP<16>& bv)
+{
+}
+
+template<>
+void computeBV<KDOP<18>, Plane>(const Plane& s, const SimpleTransform& tf, KDOP<18>& bv)
+{
+}
+
+template<>
+void computeBV<KDOP<24>, Plane>(const Plane& s, const SimpleTransform& tf, KDOP<24>& bv)
+{
+}
+
void Box::computeLocalAABB()
{
AABB aabb;