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Apply inline pattern to (bvh) traversal
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125 changes: 125 additions & 0 deletions
125
include/fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node-inl.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,125 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| * Copyright (c) 2014-2016, Open Source Robotics Foundation | ||
| * 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. | ||
| * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| * 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 "fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node.h" | ||
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| namespace fcl | ||
| { | ||
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| namespace detail | ||
| { | ||
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| //============================================================================== | ||
| template <typename BV> | ||
| BVHCollisionTraversalNode<BV>::BVHCollisionTraversalNode() | ||
| : CollisionTraversalNodeBase<typename BV::S>() | ||
| { | ||
| model1 = nullptr; | ||
| model2 = nullptr; | ||
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| num_bv_tests = 0; | ||
| num_leaf_tests = 0; | ||
| query_time_seconds = 0.0; | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename BV> | ||
| bool BVHCollisionTraversalNode<BV>::isFirstNodeLeaf(int b) const | ||
| { | ||
| return model1->getBV(b).isLeaf(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename BV> | ||
| bool BVHCollisionTraversalNode<BV>::isSecondNodeLeaf(int b) const | ||
| { | ||
| return model2->getBV(b).isLeaf(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename BV> | ||
| bool BVHCollisionTraversalNode<BV>::firstOverSecond(int b1, int b2) const | ||
| { | ||
| S sz1 = model1->getBV(b1).bv.size(); | ||
| S sz2 = model2->getBV(b2).bv.size(); | ||
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| bool l1 = model1->getBV(b1).isLeaf(); | ||
| bool l2 = model2->getBV(b2).isLeaf(); | ||
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| if(l2 || (!l1 && (sz1 > sz2))) | ||
| return true; | ||
| return false; | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename BV> | ||
| int BVHCollisionTraversalNode<BV>::getFirstLeftChild(int b) const | ||
| { | ||
| return model1->getBV(b).leftChild(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename BV> | ||
| int BVHCollisionTraversalNode<BV>::getFirstRightChild(int b) const | ||
| { | ||
| return model1->getBV(b).rightChild(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename BV> | ||
| int BVHCollisionTraversalNode<BV>::getSecondLeftChild(int b) const | ||
| { | ||
| return model2->getBV(b).leftChild(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename BV> | ||
| int BVHCollisionTraversalNode<BV>::getSecondRightChild(int b) const | ||
| { | ||
| return model2->getBV(b).rightChild(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename BV> | ||
| bool BVHCollisionTraversalNode<BV>::BVTesting(int b1, int b2) const | ||
| { | ||
| if(this->enable_statistics) num_bv_tests++; | ||
| return !model1->getBV(b1).overlap(model2->getBV(b2)); | ||
| } | ||
|
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| } // namespace detail | ||
| } // namespace fcl |
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89 changes: 89 additions & 0 deletions
89
include/fcl/narrowphase/detail/traversal/collision/bvh_shape_collision_traversal_node-inl.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,89 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| * Copyright (c) 2014-2016, Open Source Robotics Foundation | ||
| * 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. | ||
| * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| * 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 "fcl/narrowphase/detail/traversal/collision/bvh_shape_collision_traversal_node.h" | ||
|
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| namespace fcl | ||
| { | ||
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| namespace detail | ||
| { | ||
|
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| //============================================================================== | ||
| template <typename Shape, typename BV> | ||
| BVHShapeCollisionTraversalNode<Shape, BV>::BVHShapeCollisionTraversalNode() | ||
| : CollisionTraversalNodeBase<typename BV::S>() | ||
| { | ||
| model1 = nullptr; | ||
| model2 = nullptr; | ||
|
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| num_bv_tests = 0; | ||
| num_leaf_tests = 0; | ||
| query_time_seconds = 0.0; | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename Shape, typename BV> | ||
| bool BVHShapeCollisionTraversalNode<Shape, BV>::isFirstNodeLeaf(int b) const | ||
| { | ||
| return model1->getBV(b).isLeaf(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename Shape, typename BV> | ||
| int BVHShapeCollisionTraversalNode<Shape, BV>::getFirstLeftChild(int b) const | ||
| { | ||
| return model1->getBV(b).leftChild(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename Shape, typename BV> | ||
| int BVHShapeCollisionTraversalNode<Shape, BV>::getFirstRightChild(int b) const | ||
| { | ||
| return model1->getBV(b).rightChild(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename Shape, typename BV> | ||
| bool BVHShapeCollisionTraversalNode<Shape, BV>::BVTesting(int b1, int b2) const | ||
| { | ||
| if(this->enable_statistics) num_bv_tests++; | ||
| return !model1->getBV(b1).bv.overlap(model2_bv); | ||
| } | ||
|
|
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| } // namespace detail | ||
| } // namespace fcl |
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