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* Software License Agreement (BSD License)
*
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/** \author Jia Pan */
#ifndef FCL_TRAVERSAL_NODE_MESHES_H
#define FCL_TRAVERSAL_NODE_MESHES_H
#include "fcl/collision_data.h"
#include "fcl/traversal/traversal_node_base.h"
#include "fcl/BV/BV_node.h"
#include "fcl/BV/BV.h"
#include "fcl/BVH/BVH_model.h"
#include "fcl/intersect.h"
#include "fcl/ccd/motion.h"
#include <memory>
#include <limits>
#include <vector>
#include <cassert>
namespace fcl
{
/// @brief Traversal node for collision between BVH models
template<typename BV>
class BVHCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
BVHCollisionTraversalNode() : CollisionTraversalNodeBase()
{
model1 = NULL;
model2 = NULL;
num_bv_tests = 0;
num_leaf_tests = 0;
query_time_seconds = 0.0;
}
/// @brief Whether the BV node in the first BVH tree is leaf
bool isFirstNodeLeaf(int b) const
{
return model1->getBV(b).isLeaf();
}
/// @brief Whether the BV node in the second BVH tree is leaf
bool isSecondNodeLeaf(int b) const
{
return model2->getBV(b).isLeaf();
}
/// @brief Determine the traversal order, is the first BVTT subtree better
bool firstOverSecond(int b1, int b2) const
{
FCL_REAL sz1 = model1->getBV(b1).bv.size();
FCL_REAL sz2 = model2->getBV(b2).bv.size();
bool l1 = model1->getBV(b1).isLeaf();
bool l2 = model2->getBV(b2).isLeaf();
if(l2 || (!l1 && (sz1 > sz2)))
return true;
return false;
}
/// @brief Obtain the left child of BV node in the first BVH
int getFirstLeftChild(int b) const
{
return model1->getBV(b).leftChild();
}
/// @brief Obtain the right child of BV node in the first BVH
int getFirstRightChild(int b) const
{
return model1->getBV(b).rightChild();
}
/// @brief Obtain the left child of BV node in the second BVH
int getSecondLeftChild(int b) const
{
return model2->getBV(b).leftChild();
}
/// @brief Obtain the right child of BV node in the second BVH
int getSecondRightChild(int b) const
{
return model2->getBV(b).rightChild();
}
/// @brief BV culling test in one BVTT node
bool BVTesting(int b1, int b2) const
{
if(enable_statistics) num_bv_tests++;
return !model1->getBV(b1).overlap(model2->getBV(b2));
}
/// @brief The first BVH model
const BVHModel<BV>* model1;
/// @brief The second BVH model
const BVHModel<BV>* model2;
/// @brief statistical information
mutable int num_bv_tests;
mutable int num_leaf_tests;
mutable FCL_REAL query_time_seconds;
};
/// @brief Traversal node for collision between two meshes
template<typename BV>
class MeshCollisionTraversalNode : public BVHCollisionTraversalNode<BV>
{
public:
MeshCollisionTraversalNode() : BVHCollisionTraversalNode<BV>()
{
vertices1 = NULL;
vertices2 = NULL;
tri_indices1 = NULL;
tri_indices2 = NULL;
}
/// @brief Intersection testing between leaves (two triangles)
void leafTesting(int b1, int b2) const
{
if(this->enable_statistics) this->num_leaf_tests++;
const BVNode<BV>& node1 = this->model1->getBV(b1);
const BVNode<BV>& node2 = this->model2->getBV(b2);
int primitive_id1 = node1.primitiveId();
int primitive_id2 = node2.primitiveId();
const Triangle& tri_id1 = tri_indices1[primitive_id1];
const Triangle& tri_id2 = tri_indices2[primitive_id2];
const Vec3f& p1 = vertices1[tri_id1[0]];
const Vec3f& p2 = vertices1[tri_id1[1]];
const Vec3f& p3 = vertices1[tri_id1[2]];
const Vec3f& q1 = vertices2[tri_id2[0]];
const Vec3f& q2 = vertices2[tri_id2[1]];
const Vec3f& q3 = vertices2[tri_id2[2]];
if(this->model1->isOccupied() && this->model2->isOccupied())
{
bool is_intersect = false;
if(!this->request.enable_contact) // only interested in collision or not
{
if(Intersect::intersect_Triangle(p1, p2, p3, q1, q2, q3))
{
is_intersect = true;
if(this->result->numContacts() < this->request.num_max_contacts)
this->result->addContact(Contact(this->model1, this->model2, primitive_id1, primitive_id2));
}
}
else // need compute the contact information
{
FCL_REAL penetration;
Vec3f normal;
unsigned int n_contacts;
Vec3f contacts[2];
if(Intersect::intersect_Triangle(p1, p2, p3, q1, q2, q3,
contacts,
&n_contacts,
&penetration,
&normal))
{
is_intersect = true;
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)
{
this->result->addContact(Contact(this->model1, this->model2, primitive_id1, primitive_id2, contacts[i], normal, penetration));
}
}
}
if(is_intersect && this->request.enable_cost)
{
AABB overlap_part;
AABB(p1, p2, p3).overlap(AABB(q1, q2, q3), overlap_part);
this->result->addCostSource(CostSource(overlap_part, cost_density), this->request.num_max_cost_sources);
}
}
else if((!this->model1->isFree() && !this->model2->isFree()) && this->request.enable_cost)
{
if(Intersect::intersect_Triangle(p1, p2, p3, q1, q2, q3))
{
AABB overlap_part;
AABB(p1, p2, p3).overlap(AABB(q1, q2, q3), overlap_part);
this->result->addCostSource(CostSource(overlap_part, cost_density), this->request.num_max_cost_sources);
}
}
}
/// @brief Whether the traversal process can stop early
bool canStop() const
{
return this->request.isSatisfied(*(this->result));
}
Vec3f* vertices1;
Vec3f* vertices2;
Triangle* tri_indices1;
Triangle* tri_indices2;
FCL_REAL cost_density;
};
/// @brief Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS)
class MeshCollisionTraversalNodeOBB : public MeshCollisionTraversalNode<OBB>
{
public:
MeshCollisionTraversalNodeOBB();
bool BVTesting(int b1, int b2) const;
void leafTesting(int b1, int b2) const;
bool BVTesting(int b1, int b2, const Matrix3f& Rc, const Vec3f& Tc) const;
void leafTesting(int b1, int b2, const Matrix3f& Rc, const Vec3f& Tc) const;
Matrix3f R;
Vec3f T;
};
class MeshCollisionTraversalNodeRSS : public MeshCollisionTraversalNode<RSS>
{
public:
MeshCollisionTraversalNodeRSS();
bool BVTesting(int b1, int b2) const;
void leafTesting(int b1, int b2) const;
bool BVTesting(int b1, int b2, const Matrix3f& Rc, const Vec3f& Tc) const;
void leafTesting(int b1, int b2, const Matrix3f& Rc, const Vec3f& Tc) const;
Matrix3f R;
Vec3f T;
};
class MeshCollisionTraversalNodekIOS : public MeshCollisionTraversalNode<kIOS>
{
public:
MeshCollisionTraversalNodekIOS();
bool BVTesting(int b1, int b2) const;
void leafTesting(int b1, int b2) const;
Matrix3f R;
Vec3f T;
};
class MeshCollisionTraversalNodeOBBRSS : public MeshCollisionTraversalNode<OBBRSS>
{
public:
MeshCollisionTraversalNodeOBBRSS();
bool BVTesting(int b1, int b2) const;
void leafTesting(int b1, int b2) const;
Matrix3f R;
Vec3f T;
};
/// @brief Traversal node for continuous collision between BVH models
struct BVHContinuousCollisionPair
{
BVHContinuousCollisionPair() {}
BVHContinuousCollisionPair(int id1_, int id2_, FCL_REAL time) : id1(id1_), id2(id2_), collision_time(time) {}
/// @brief The index of one in-collision primitive
int id1;
/// @brief The index of the other in-collision primitive
int id2;
/// @brief Collision time normalized in [0, 1]. The collision time out of [0, 1] means collision-free
FCL_REAL collision_time;
};
/// @brief Traversal node for continuous collision between meshes
template<typename BV>
class MeshContinuousCollisionTraversalNode : public BVHCollisionTraversalNode<BV>
{
public:
MeshContinuousCollisionTraversalNode() : BVHCollisionTraversalNode<BV>()
{
vertices1 = NULL;
vertices2 = NULL;
tri_indices1 = NULL;
tri_indices2 = NULL;
prev_vertices1 = NULL;
prev_vertices2 = NULL;
num_vf_tests = 0;
num_ee_tests = 0;
time_of_contact = 1;
}
/// @brief Intersection testing between leaves (two triangles)
void leafTesting(int b1, int b2) const
{
if(this->enable_statistics) this->num_leaf_tests++;
const BVNode<BV>& node1 = this->model1->getBV(b1);
const BVNode<BV>& node2 = this->model2->getBV(b2);
FCL_REAL collision_time = 2;
Vec3f collision_pos;
int primitive_id1 = node1.primitiveId();
int primitive_id2 = node2.primitiveId();
const Triangle& tri_id1 = tri_indices1[primitive_id1];
const Triangle& tri_id2 = tri_indices2[primitive_id2];
Vec3f* S0[3];
Vec3f* S1[3];
Vec3f* T0[3];
Vec3f* T1[3];
for(int i = 0; i < 3; ++i)
{
S0[i] = prev_vertices1 + tri_id1[i];
S1[i] = vertices1 + tri_id1[i];
T0[i] = prev_vertices2 + tri_id2[i];
T1[i] = vertices2 + tri_id2[i];
}
FCL_REAL tmp;
Vec3f tmpv;
// 6 VF checks
for(int i = 0; i < 3; ++i)
{
if(this->enable_statistics) num_vf_tests++;
if(Intersect::intersect_VF(*(S0[0]), *(S0[1]), *(S0[2]), *(T0[i]), *(S1[0]), *(S1[1]), *(S1[2]), *(T1[i]), &tmp, &tmpv))
{
if(collision_time > tmp)
{
collision_time = tmp; collision_pos = tmpv;
}
}
if(this->enable_statistics) num_vf_tests++;
if(Intersect::intersect_VF(*(T0[0]), *(T0[1]), *(T0[2]), *(S0[i]), *(T1[0]), *(T1[1]), *(T1[2]), *(S1[i]), &tmp, &tmpv))
{
if(collision_time > tmp)
{
collision_time = tmp; collision_pos = tmpv;
}
}
}
// 9 EE checks
for(int i = 0; i < 3; ++i)
{
int S_id1 = i;
int S_id2 = i + 1;
if(S_id2 == 3) S_id2 = 0;
for(int j = 0; j < 3; ++j)
{
int T_id1 = j;
int T_id2 = j + 1;
if(T_id2 == 3) T_id2 = 0;
num_ee_tests++;
if(Intersect::intersect_EE(*(S0[S_id1]), *(S0[S_id2]), *(T0[T_id1]), *(T0[T_id2]), *(S1[S_id1]), *(S1[S_id2]), *(T1[T_id1]), *(T1[T_id2]), &tmp, &tmpv))
{
if(collision_time > tmp)
{
collision_time = tmp; collision_pos = tmpv;
}
}
}
}
if(!(collision_time > 1)) // collision happens
{
pairs.push_back(BVHContinuousCollisionPair(primitive_id1, primitive_id2, collision_time));
time_of_contact = std::min(time_of_contact, collision_time);
}
}
/// @brief Whether the traversal process can stop early
bool canStop() const
{
return (pairs.size() > 0) && (this->request.num_max_contacts <= pairs.size());
}
Vec3f* vertices1;
Vec3f* vertices2;
Triangle* tri_indices1;
Triangle* tri_indices2;
Vec3f* prev_vertices1;
Vec3f* prev_vertices2;
mutable int num_vf_tests;
mutable int num_ee_tests;
mutable std::vector<BVHContinuousCollisionPair> pairs;
mutable FCL_REAL time_of_contact;
};
/// @brief Traversal node for distance computation between BVH models
template<typename BV>
class BVHDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
BVHDistanceTraversalNode() : DistanceTraversalNodeBase()
{
model1 = NULL;
model2 = NULL;
num_bv_tests = 0;
num_leaf_tests = 0;
query_time_seconds = 0.0;
}
/// @brief Whether the BV node in the first BVH tree is leaf
bool isFirstNodeLeaf(int b) const
{
return model1->getBV(b).isLeaf();
}
/// @brief Whether the BV node in the second BVH tree is leaf
bool isSecondNodeLeaf(int b) const
{
return model2->getBV(b).isLeaf();
}
/// @brief Determine the traversal order, is the first BVTT subtree better
bool firstOverSecond(int b1, int b2) const
{
FCL_REAL sz1 = model1->getBV(b1).bv.size();
FCL_REAL sz2 = model2->getBV(b2).bv.size();
bool l1 = model1->getBV(b1).isLeaf();
bool l2 = model2->getBV(b2).isLeaf();
if(l2 || (!l1 && (sz1 > sz2)))
return true;
return false;
}
/// @brief Obtain the left child of BV node in the first BVH
int getFirstLeftChild(int b) const
{
return model1->getBV(b).leftChild();
}
/// @brief Obtain the right child of BV node in the first BVH
int getFirstRightChild(int b) const
{
return model1->getBV(b).rightChild();
}
/// @brief Obtain the left child of BV node in the second BVH
int getSecondLeftChild(int b) const
{
return model2->getBV(b).leftChild();
}
/// @brief Obtain the right child of BV node in the second BVH
int getSecondRightChild(int b) const
{
return model2->getBV(b).rightChild();
}
/// @brief BV culling test in one BVTT node
FCL_REAL BVTesting(int b1, int b2) const
{
if(enable_statistics) num_bv_tests++;
return model1->getBV(b1).distance(model2->getBV(b2));
}
/// @brief The first BVH model
const BVHModel<BV>* model1;
/// @brief The second BVH model
const BVHModel<BV>* model2;
/// @brief statistical information
mutable int num_bv_tests;
mutable int num_leaf_tests;
mutable FCL_REAL query_time_seconds;
};
/// @brief Traversal node for distance computation between two meshes
template<typename BV>
class MeshDistanceTraversalNode : public BVHDistanceTraversalNode<BV>
{
public:
MeshDistanceTraversalNode() : BVHDistanceTraversalNode<BV>()
{
vertices1 = NULL;
vertices2 = NULL;
tri_indices1 = NULL;
tri_indices2 = NULL;
rel_err = this->request.rel_err;
abs_err = this->request.abs_err;
}
/// @brief Distance testing between leaves (two triangles)
void leafTesting(int b1, int b2) const
{
if(this->enable_statistics) this->num_leaf_tests++;
const BVNode<BV>& node1 = this->model1->getBV(b1);
const BVNode<BV>& node2 = this->model2->getBV(b2);
int primitive_id1 = node1.primitiveId();
int primitive_id2 = node2.primitiveId();
const Triangle& tri_id1 = tri_indices1[primitive_id1];
const Triangle& tri_id2 = tri_indices2[primitive_id2];
const Vec3f& t11 = vertices1[tri_id1[0]];
const Vec3f& t12 = vertices1[tri_id1[1]];
const Vec3f& t13 = vertices1[tri_id1[2]];
const Vec3f& t21 = vertices2[tri_id2[0]];
const Vec3f& t22 = vertices2[tri_id2[1]];
const Vec3f& t23 = vertices2[tri_id2[2]];
// nearest point pair
Vec3f P1, P2;
FCL_REAL d = TriangleDistance::triDistance(t11, t12, t13, t21, t22, t23,
P1, P2);
if(this->request.enable_nearest_points)
{
this->result->update(d, this->model1, this->model2, primitive_id1, primitive_id2, P1, P2);
}
else
{
this->result->update(d, this->model1, this->model2, primitive_id1, primitive_id2);
}
}
/// @brief Whether the traversal process can stop early
bool canStop(FCL_REAL c) const
{
if((c >= this->result->min_distance - abs_err) && (c * (1 + rel_err) >= this->result->min_distance))
return true;
return false;
}
Vec3f* vertices1;
Vec3f* vertices2;
Triangle* tri_indices1;
Triangle* tri_indices2;
/// @brief relative and absolute error, default value is 0.01 for both terms
FCL_REAL rel_err;
FCL_REAL abs_err;
};
/// @brief Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS)
class MeshDistanceTraversalNodeRSS : public MeshDistanceTraversalNode<RSS>
{
public:
MeshDistanceTraversalNodeRSS();
void preprocess();
void postprocess();
FCL_REAL BVTesting(int b1, int b2) const;
void leafTesting(int b1, int b2) const;
Matrix3f R;
Vec3f T;
};
class MeshDistanceTraversalNodekIOS : public MeshDistanceTraversalNode<kIOS>
{
public:
MeshDistanceTraversalNodekIOS();
void preprocess();
void postprocess();
FCL_REAL BVTesting(int b1, int b2) const;
void leafTesting(int b1, int b2) const;
Matrix3f R;
Vec3f T;
};
class MeshDistanceTraversalNodeOBBRSS : public MeshDistanceTraversalNode<OBBRSS>
{
public:
MeshDistanceTraversalNodeOBBRSS();
void preprocess();
void postprocess();
FCL_REAL BVTesting(int b1, int b2) const;
void leafTesting(int b1, int b2) const;
Matrix3f R;
Vec3f T;
};
/// @brief continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration
template<typename BV>
class MeshConservativeAdvancementTraversalNode : public MeshDistanceTraversalNode<BV>
{
public:
MeshConservativeAdvancementTraversalNode(FCL_REAL w_ = 1) : MeshDistanceTraversalNode<BV>()
{
delta_t = 1;
toc = 0;
t_err = (FCL_REAL)0.00001;
w = w_;
motion1 = NULL;
motion2 = NULL;
}
/// @brief BV culling test in one BVTT node
FCL_REAL BVTesting(int b1, int b2) const
{
if(this->enable_statistics) this->num_bv_tests++;
Vec3f P1, P2;
FCL_REAL d = this->model1->getBV(b1).distance(this->model2->getBV(b2), &P1, &P2);
stack.push_back(ConservativeAdvancementStackData(P1, P2, b1, b2, d));
return d;
}
/// @brief Conservative advancement testing between leaves (two triangles)
void leafTesting(int b1, int b2) const
{
if(this->enable_statistics) this->num_leaf_tests++;
const BVNode<BV>& node1 = this->model1->getBV(b1);
const BVNode<BV>& node2 = this->model2->getBV(b2);
int primitive_id1 = node1.primitiveId();
int primitive_id2 = node2.primitiveId();
const Triangle& tri_id1 = this->tri_indices1[primitive_id1];
const Triangle& tri_id2 = this->tri_indices2[primitive_id2];
const Vec3f& p1 = this->vertices1[tri_id1[0]];
const Vec3f& p2 = this->vertices1[tri_id1[1]];
const Vec3f& p3 = this->vertices1[tri_id1[2]];
const Vec3f& q1 = this->vertices2[tri_id2[0]];
const Vec3f& q2 = this->vertices2[tri_id2[1]];
const Vec3f& q3 = this->vertices2[tri_id2[2]];
// nearest point pair
Vec3f P1, P2;
FCL_REAL d = TriangleDistance::triDistance(p1, p2, p3, q1, q2, q3,
P1, P2);
if(d < this->min_distance)
{
this->min_distance = d;
closest_p1 = P1;
closest_p2 = P2;
last_tri_id1 = primitive_id1;
last_tri_id2 = primitive_id2;
}
Vec3f n = P2 - P1;
n.normalize();
// here n is already in global frame as we assume the body is in original configuration (I, 0) for general BVH
TriangleMotionBoundVisitor mb_visitor1(p1, p2, p3, n), mb_visitor2(q1, q2, q3, n);
FCL_REAL bound1 = motion1->computeMotionBound(mb_visitor1);
FCL_REAL bound2 = motion2->computeMotionBound(mb_visitor2);
FCL_REAL bound = bound1 + bound2;
FCL_REAL cur_delta_t;
if(bound <= d) cur_delta_t = 1;
else cur_delta_t = d / bound;
if(cur_delta_t < delta_t)
delta_t = cur_delta_t;
}
/// @brief Whether the traversal process can stop early
bool canStop(FCL_REAL c) const
{
if((c >= w * (this->min_distance - this->abs_err)) && (c * (1 + this->rel_err) >= w * this->min_distance))
{
const ConservativeAdvancementStackData& data = stack.back();
FCL_REAL d = data.d;
Vec3f n;
int c1, c2;
if(d > c)
{
const ConservativeAdvancementStackData& data2 = stack[stack.size() - 2];
d = data2.d;
n = data2.P2 - data2.P1; n.normalize();
c1 = data2.c1;
c2 = data2.c2;
stack[stack.size() - 2] = stack[stack.size() - 1];
}
else
{
n = data.P2 - data.P1; n.normalize();
c1 = data.c1;
c2 = data.c2;
}
assert(c == d);
TBVMotionBoundVisitor<BV> mb_visitor1(this->model1->getBV(c1).bv, n), mb_visitor2(this->model2->getBV(c2).bv, n);
FCL_REAL bound1 = motion1->computeMotionBound(mb_visitor1);
FCL_REAL bound2 = motion2->computeMotionBound(mb_visitor2);
FCL_REAL bound = bound1 + bound2;
FCL_REAL cur_delta_t;
if(bound <= c) cur_delta_t = 1;
else cur_delta_t = c / bound;
if(cur_delta_t < delta_t)
delta_t = cur_delta_t;
stack.pop_back();
return true;
}
else
{
const ConservativeAdvancementStackData& data = stack.back();
FCL_REAL d = data.d;
if(d > c)
stack[stack.size() - 2] = stack[stack.size() - 1];
stack.pop_back();
return false;
}
}
mutable FCL_REAL min_distance;
mutable Vec3f closest_p1, closest_p2;
mutable int last_tri_id1, last_tri_id2;
/// @brief CA controlling variable: early stop for the early iterations of CA
FCL_REAL w;
/// @brief The time from beginning point
FCL_REAL toc;
FCL_REAL t_err;
/// @brief The delta_t each step
mutable FCL_REAL delta_t;
/// @brief Motions for the two objects in query
const MotionBase* motion1;
const MotionBase* motion2;
mutable std::vector<ConservativeAdvancementStackData> stack;
};
/// @brief for OBB and RSS, there is local coordinate of BV, so normal need to be transformed
namespace details
{
template<typename BV>
const Vec3f& getBVAxis(const BV& bv, int i)
{
return bv.axis[i];
}
template<>
inline const Vec3f& getBVAxis<OBBRSS>(const OBBRSS& bv, int i)
{
return bv.obb.axis[i];
}
template<typename BV>
bool meshConservativeAdvancementTraversalNodeCanStop(FCL_REAL c,
FCL_REAL min_distance,
FCL_REAL abs_err, FCL_REAL rel_err, FCL_REAL w,
const BVHModel<BV>* model1, const BVHModel<BV>* model2,
const MotionBase* motion1, const MotionBase* motion2,
std::vector<ConservativeAdvancementStackData>& stack,
FCL_REAL& delta_t)
{
if((c >= w * (min_distance - abs_err)) && (c * (1 + rel_err) >= w * min_distance))
{
const ConservativeAdvancementStackData& data = stack.back();
FCL_REAL d = data.d;
Vec3f n;
int c1, c2;
if(d > c)
{
const ConservativeAdvancementStackData& data2 = stack[stack.size() - 2];
d = data2.d;
n = data2.P2 - data2.P1; n.normalize();
c1 = data2.c1;
c2 = data2.c2;
stack[stack.size() - 2] = stack[stack.size() - 1];
}
else
{
n = data.P2 - data.P1; n.normalize();
c1 = data.c1;
c2 = data.c2;
}
assert(c == d);
Vec3f n_transformed =
getBVAxis(model1->getBV(c1).bv, 0) * n[0] +
getBVAxis(model1->getBV(c1).bv, 1) * n[1] +
getBVAxis(model1->getBV(c1).bv, 2) * n[2];
TBVMotionBoundVisitor<BV> mb_visitor1(model1->getBV(c1).bv, n_transformed), mb_visitor2(model2->getBV(c2).bv, n_transformed);
FCL_REAL bound1 = motion1->computeMotionBound(mb_visitor1);
FCL_REAL bound2 = motion2->computeMotionBound(mb_visitor2);
FCL_REAL bound = bound1 + bound2;
FCL_REAL cur_delta_t;
if(bound <= c) cur_delta_t = 1;
else cur_delta_t = c / bound;
if(cur_delta_t < delta_t)
delta_t = cur_delta_t;
stack.pop_back();
return true;
}
else
{
const ConservativeAdvancementStackData& data = stack.back();
FCL_REAL d = data.d;
if(d > c)
stack[stack.size() - 2] = stack[stack.size() - 1];
stack.pop_back();
return false;
}
}
}
/// for OBB, RSS and OBBRSS, there is local coordinate of BV, so normal need to be transformed
template<>
inline bool MeshConservativeAdvancementTraversalNode<OBB>::canStop(FCL_REAL c) const
{
return details::meshConservativeAdvancementTraversalNodeCanStop(c, this->min_distance,
this->abs_err, this->rel_err, w,
this->model1, this->model2,
motion1, motion2,
stack, delta_t);
}
template<>
inline bool MeshConservativeAdvancementTraversalNode<RSS>::canStop(FCL_REAL c) const
{
return details::meshConservativeAdvancementTraversalNodeCanStop(c, this->min_distance,
this->abs_err, this->rel_err, w,
this->model1, this->model2,
motion1, motion2,
stack, delta_t);
}
template<>
inline bool MeshConservativeAdvancementTraversalNode<OBBRSS>::canStop(FCL_REAL c) const
{
return details::meshConservativeAdvancementTraversalNodeCanStop(c, this->min_distance,
this->abs_err, this->rel_err, w,
this->model1, this->model2,
motion1, motion2,
stack, delta_t);
}
class MeshConservativeAdvancementTraversalNodeRSS : public MeshConservativeAdvancementTraversalNode<RSS>
{
public:
MeshConservativeAdvancementTraversalNodeRSS(FCL_REAL w_ = 1);
FCL_REAL BVTesting(int b1, int b2) const;
void leafTesting(int b1, int b2) const;
bool canStop(FCL_REAL c) const;
Matrix3f R;
Vec3f T;
};
class MeshConservativeAdvancementTraversalNodeOBBRSS : public MeshConservativeAdvancementTraversalNode<OBBRSS>
{
public:
MeshConservativeAdvancementTraversalNodeOBBRSS(FCL_REAL w_ = 1);
FCL_REAL BVTesting(int b1, int b2) const;
void leafTesting(int b1, int b2) const;
bool canStop(FCL_REAL c) const;
Matrix3f R;
Vec3f T;
};
}
#endif
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