remove exhaustive in request

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@145 253336fb-580f-4252-a368-f3cef5a2a82b

trunk/fcl/include/fcl/collision_data.h

@@ -87,18 +87,15 @@ struct CostSource
 
 struct CollisionRequest
 {
-  bool exhaustive;
   size_t num_max_contacts;
   bool enable_contact;
   size_t num_max_cost_sources;
   bool enable_cost;
 
-  CollisionRequest(bool exhaustive_ = false,
-                   size_t num_max_contacts_ = 1,
+  CollisionRequest(size_t num_max_contacts_ = 1,
                    bool enable_contact_ = false,
                    size_t num_max_cost_sources_ = 1,
-                   bool enable_cost_ = false) : exhaustive(exhaustive_),
-                                                num_max_contacts(num_max_contacts_),
+                   bool enable_cost_ = false) : num_max_contacts(num_max_contacts_),
                                                 enable_contact(enable_contact_),
                                                 num_max_cost_sources(num_max_cost_sources_),
                                                 enable_cost(enable_cost_)

trunk/fcl/include/fcl/traversal_node_bvh_shape.h

@@ -219,7 +219,7 @@ public:
 
   bool canStop() const
   {
-    return (!this->request.exhaustive) && (!this->request.enable_cost) && (this->result->isCollision()) && (this->request.num_max_contacts <= this->result->numContacts());
+    return (!this->request.enable_cost) && (this->result->isCollision()) && (this->request.num_max_contacts <= this->result->numContacts());
   }
 
   Vec3f* vertices;
@@ -469,7 +469,7 @@ public:
 
   bool canStop() const
   {
-    return (!this->request.exhaustive) && (!this->request.enable_cost) && (this->result->isCollision()) && (this->request.num_max_contacts <= this->result->numContacts());
+    return (!this->request.enable_cost) && (this->result->isCollision()) && (this->request.num_max_contacts <= this->result->numContacts());
   }
 
   Vec3f* vertices;

trunk/fcl/include/fcl/traversal_node_bvhs.h

@@ -201,11 +201,9 @@ public:
                                          &normal))
         {
           is_intersect = true;
-          if(!this->request.exhaustive)
-          {
-            if(this->request.num_max_contacts < n_contacts + this->result->numContacts())
-              n_contacts = (this->request.num_max_contacts >= this->result->numContacts()) ? (this->request.num_max_contacts - this->result->numContacts()) : 0;
-          }
+          
+          if(this->request.num_max_contacts < n_contacts + this->result->numContacts())
+            n_contacts = (this->request.num_max_contacts >= this->result->numContacts()) ? (this->request.num_max_contacts - this->result->numContacts()) : 0;
     
           for(unsigned int i = 0; i < n_contacts; ++i)
           {
@@ -235,7 +233,7 @@ public:
   /** \brief Whether the traversal process can stop early */
   bool canStop() const
   {
-    return (!this->request.exhaustive) && (!this->request.enable_cost) && (this->result->isCollision()) && (this->request.num_max_contacts <= this->result->numContacts());
+    return (!this->request.enable_cost) && (this->result->isCollision()) && (this->request.num_max_contacts <= this->result->numContacts());
   }
 
   Vec3f* vertices1;
@@ -388,7 +386,7 @@ public:
 
   bool canStop() const
   {
-    return (pairs.size() > 0) && (!this->request.exhaustive) && (this->request.num_max_contacts <= pairs.size());
+    return (pairs.size() > 0) && (this->request.num_max_contacts <= pairs.size());
   }
 
   Vec3f* vertices1;
@@ -486,7 +484,7 @@ public:
 
   bool canStop() const
   {
-    return (pairs.size() > 0) && (!this->request.exhaustive) && (this->request.num_max_contacts <= pairs.size());
+    return (pairs.size() > 0) && (this->request.num_max_contacts <= pairs.size());
   }
 
   Vec3f* vertices1;
@@ -651,7 +649,7 @@ public:
 
   bool canStop() const
   {
-    return (pairs.size() > 0) && (!this->request.exhaustive) && (this->request.num_max_contacts <= pairs.size());
+    return (pairs.size() > 0) && (this->request.num_max_contacts <= pairs.size());
   }
 
   Vec3f* vertices1;
@@ -736,7 +734,7 @@ public:
 
   bool canStop() const
   {
-    return (pairs.size() > 0) && (!this->request.exhaustive) && (this->request.num_max_contacts <= pairs.size());
+    return (pairs.size() > 0) && (this->request.num_max_contacts <= pairs.size());
   }
 
   Vec3f* vertices1;
@@ -819,7 +817,7 @@ public:
 
   bool canStop() const
   {
-    return (pairs.size() > 0) && (!this->request.exhaustive) && (this->request.num_max_contacts <= pairs.size());
+    return (pairs.size() > 0) && (this->request.num_max_contacts <= pairs.size());
   }
 
   Vec3f* vertices1;

trunk/fcl/include/fcl/traversal_node_octree.h

@@ -325,7 +325,7 @@ private:
             cresult->addCostSource(CostSource(overlap_part, root1->getOccupancy() * s.cost_density));
           }
 
-          return (!crequest->exhaustive) && (!crequest->enable_cost) && (cresult->isCollision()) && (crequest->num_max_contacts <= cresult->numContacts());
+          return (!crequest->enable_cost) && (cresult->isCollision()) && (crequest->num_max_contacts <= cresult->numContacts());
         }
         else return false;
       }
@@ -528,7 +528,7 @@ private:
             cresult->addCostSource(CostSource(overlap_part, root1->getOccupancy() * tree2->cost_density));
           }
 
-          return (!crequest->exhaustive) && (!crequest->enable_cost) && (cresult->isCollision()) && (crequest->num_max_contacts <= cresult->numContacts());
+          return (!crequest->enable_cost) && (cresult->isCollision()) && (crequest->num_max_contacts <= cresult->numContacts());
         }
         else
           return false;
@@ -743,7 +743,7 @@ private:
           cresult->addCostSource(CostSource(overlap_part, root1->getOccupancy() * root2->getOccupancy()));
         }
 
-        return (!crequest->exhaustive) && (!crequest->enable_cost) && (cresult->isCollision()) && (crequest->num_max_contacts <= cresult->numContacts());
+        return (!crequest->enable_cost) && (cresult->isCollision()) && (crequest->num_max_contacts <= cresult->numContacts());
       }
       else if(!tree1->isNodeFree(root1) && !tree2->isNodeFree(root2) && crequest->enable_cost) // uncertain area (here means both are uncertain or one uncertain and one occupied)
       {

trunk/fcl/src/broad_phase_collision.cpp

@@ -59,7 +59,7 @@ bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2, void* cd
 
   collide(o1, o2, request, result);
 
-  if( (!request.exhaustive) && (result.isCollision()) && (result.numContacts() >= request.num_max_contacts))
+  if( (result.isCollision()) && (result.numContacts() >= request.num_max_contacts))
     cdata->done = true;
 
   return cdata->done;

trunk/fcl/src/collision.cpp

@@ -75,7 +75,7 @@ int collide(const CollisionGeometry* o1, const SimpleTransform& tf1,
   const CollisionFunctionMatrix<NarrowPhaseSolver>& looktable = getCollisionFunctionLookTable<NarrowPhaseSolver>();
 
   int res; 
-  if(request.num_max_contacts == 0 && !request.exhaustive)
+  if(request.num_max_contacts == 0)
   {
     std::cerr << "Warning: should stop early as num_max_contact is " << request.num_max_contacts << " !" << std::endl;
     res = 0;

trunk/fcl/src/conservative_advancement.cpp

@@ -55,7 +55,7 @@ int conservativeAdvancement(const CollisionGeometry* o1,
                             CollisionResult& result,
                             FCL_REAL& toc)
 {
-  if((request.num_max_contacts == 0) && !request.exhaustive)
+  if(request.num_max_contacts == 0)
   {
     std::cerr << "Warning: should stop early as num_max_contact is " << request.num_max_contacts << " !" << std::endl;
     return 0;

trunk/fcl/src/traversal_node_bvhs.cpp

@@ -100,12 +100,10 @@ static inline void meshCollisionOrientedNodeLeafTesting(int b1, int b2,
                                        &normal))
       {
         is_intersect = true;
-        if(!request.exhaustive)
-        {
-          if(request.num_max_contacts < result.numContacts() + n_contacts)
-            n_contacts = (request.num_max_contacts > result.numContacts()) ? (request.num_max_contacts - result.numContacts()) : 0;
-        }
-
+        
+        if(request.num_max_contacts < result.numContacts() + n_contacts)
+          n_contacts = (request.num_max_contacts > result.numContacts()) ? (request.num_max_contacts - result.numContacts()) : 0;
+        
         for(unsigned int i = 0; i < n_contacts; ++i)
         {
           result.addContact(Contact(model1, model2, primitive_id1, primitive_id2, tf1.transform(contacts[i]), tf1.getQuatRotation().transform(normal), penetration));