collision_node.cpp 2.7 KB
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/*
 * Software License Agreement (BSD License)
 *
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *   * Neither the name of Open Source Robotics Foundation nor the names of its
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */


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#include <../src/collision_node.h>
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#include <hpp/fcl/internal/traversal_recurse.h>
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namespace hpp
{
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namespace fcl
{

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void collide(CollisionTraversalNodeBase* node,
             const CollisionRequest& request, CollisionResult& result,
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	     BVHFrontList* front_list,
             bool recursive)
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{
  if(front_list && front_list->size() > 0)
  {
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    propagateBVHFrontListCollisionRecurse(node, request, result, front_list);
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  }
  else
  {
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    FCL_REAL sqrDistLowerBound=0;
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    if (recursive)
      collisionRecurse(node, 0, 0, front_list, sqrDistLowerBound);
    else
      collisionNonRecurse(node, front_list, sqrDistLowerBound);
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    result.updateDistanceLowerBound (sqrt (sqrDistLowerBound));
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  }
}

void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list, int qsize)
{
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  node->preprocess();
  
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  if(qsize <= 2)
    distanceRecurse(node, 0, 0, front_list);
  else
    distanceQueueRecurse(node, 0, 0, front_list, qsize);

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  node->postprocess();
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}
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}
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} // namespace hpp