From 2cf8da3c7168a82712131d534e3b300535a7dc8a Mon Sep 17 00:00:00 2001
From: Lucile Remigy <lucile.remigy@epitech.eu>
Date: Tue, 15 Oct 2019 15:18:08 +0200
Subject: [PATCH] add something which was deleted
---
src/traversal/traversal_node_octree.h | 34 +++++++++++++++++++++++++++
src/traversal/traversal_node_setup.h | 4 ++--
src/traversal/traversal_recurse.cpp | 1 -
3 files changed, 36 insertions(+), 3 deletions(-)
diff --git a/src/traversal/traversal_node_octree.h b/src/traversal/traversal_node_octree.h
index 3042d43b..c92ddfc2 100644
--- a/src/traversal/traversal_node_octree.h
+++ b/src/traversal/traversal_node_octree.h
@@ -926,6 +926,40 @@ public:
const OcTreeSolver* otsolver;
};
+/// @brief Traversal node for octree distance
+class OcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
+{
+public:
+ OcTreeDistanceTraversalNode()
+ {
+ model1 = NULL;
+ model2 = NULL;
+
+ otsolver = NULL;
+ }
+
+
+ FCL_REAL BVDistanceLowerBound(int, int) const
+ {
+ return -1;
+ }
+
+ bool BVDistanceLowerBound(int, int, FCL_REAL&) const
+ {
+ return false;
+ }
+
+ void leafComputeDistance(int, int) const
+ {
+ otsolver->OcTreeDistance(model1, model2, tf1, tf2, request, *result);
+ }
+
+ const OcTree* model1;
+ const OcTree* model2;
+
+ const OcTreeSolver* otsolver;
+};
+
/// @brief Traversal node for shape-octree collision
template<typename S>
class ShapeOcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
diff --git a/src/traversal/traversal_node_setup.h b/src/traversal/traversal_node_setup.h
index 4dc10681..47b00a9a 100644
--- a/src/traversal/traversal_node_setup.h
+++ b/src/traversal/traversal_node_setup.h
@@ -62,7 +62,7 @@ inline bool initialize(OcTreeCollisionTraversalNode& node,
const OcTree& model2, const Transform3f& tf2,
const OcTreeSolver* otsolver,
CollisionResult& result)
-
+{
node.result = &result;
node.model1 = &model1;
@@ -77,7 +77,7 @@ inline bool initialize(OcTreeCollisionTraversalNode& node,
}
/// @brief Initialize traversal node for distance between two octrees, given current object transform
-inline bool initialize(OcTreeDistanceTraversalNode& node,
+bool initialize(OcTreeDistanceTraversalNode& node,
const OcTree& model1, const Transform3f& tf1,
const OcTree& model2, const Transform3f& tf2,
const OcTreeSolver* otsolver,
diff --git a/src/traversal/traversal_recurse.cpp b/src/traversal/traversal_recurse.cpp
index 14a232cd..0a139b35 100644
--- a/src/traversal/traversal_recurse.cpp
+++ b/src/traversal/traversal_recurse.cpp
@@ -89,7 +89,6 @@ void collisionRecurse(CollisionTraversalNodeBase* node, int b1, int b2,
collisionRecurse(node, b1, c2, front_list, sqrDistLowerBound2);
sqrDistLowerBound = std::min (sqrDistLowerBound1, sqrDistLowerBound2);
}
- return;
}
void collisionNonRecurse(CollisionTraversalNodeBase* node,
--
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