broadphase_dynamic_AABB_tree-inl.h

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#ifndef COAL_BROAD_PHASE_DYNAMIC_AABB_TREE_INL_H
#define COAL_BROAD_PHASE_DYNAMIC_AABB_TREE_INL_H

#include "coal/broadphase/broadphase_dynamic_AABB_tree.h"

#include <limits>

#if COAL_HAVE_OCTOMAP
#include "coal/octree.h"
#endif

#include "coal/BV/BV.h"
#include "coal/shape/geometric_shapes_utility.h"

namespace coal {
namespace detail {

namespace dynamic_AABB_tree {

#if COAL_HAVE_OCTOMAP

//==============================================================================
template <typename Derived>
bool collisionRecurse_(DynamicAABBTreeCollisionManager::DynamicAABBNode* root1,
 const OcTree* tree2, const OcTree::OcTreeNode* root2,
 const AABB& root2_bv,
 const Eigen::MatrixBase<Derived>& translation2,
 CollisionCallBackBase* callback) {
 if (!root2) {
 if (root1->isLeaf()) {
 CollisionObject* obj1 = static_cast<CollisionObject*>(root1->data);

 if (!obj1->collisionGeometry()->isFree()) {
 const AABB& root2_bv_t = translate(root2_bv, translation2);
 if (root1->bv.overlap(root2_bv_t)) {
 Box* box = new Box();
 Transform3s box_tf;
 Transform3s tf2 = Transform3s::Identity();
 tf2.translation() = translation2;
 constructBox(root2_bv, tf2, *box, box_tf);

 box->cost_density =
 tree2->getOccupancyThres(); // thresholds are 0, 1, so uncertain

 CollisionObject obj2(shared_ptr<CollisionGeometry>(box), box_tf);
 return (*callback)(obj1, &obj2);
 }
 }
 } else {
 if (collisionRecurse_(root1->children[0], tree2, nullptr, root2_bv,
 translation2, callback))
 return true;
 if (collisionRecurse_(root1->children[1], tree2, nullptr, root2_bv,
 translation2, callback))
 return true;
 }

 return false;
 } else if (root1->isLeaf() && !tree2->nodeHasChildren(root2)) {
 CollisionObject* obj1 = static_cast<CollisionObject*>(root1->data);

 if (!tree2->isNodeFree(root2) && !obj1->collisionGeometry()->isFree()) {
 const AABB& root2_bv_t = translate(root2_bv, translation2);
 if (root1->bv.overlap(root2_bv_t)) {
 Box* box = new Box();
 Transform3s box_tf;
 Transform3s tf2 = Transform3s::Identity();
 tf2.translation() = translation2;
 constructBox(root2_bv, tf2, *box, box_tf);

 box->cost_density = root2->getOccupancy();
 box->threshold_occupied = tree2->getOccupancyThres();

 CollisionObject obj2(shared_ptr<CollisionGeometry>(box), box_tf);
 return (*callback)(obj1, &obj2);
 } else
 return false;
 } else
 return false;
 }

 const AABB& root2_bv_t = translate(root2_bv, translation2);
 if (tree2->isNodeFree(root2) || !root1->bv.overlap(root2_bv_t)) return false;

 if (!tree2->nodeHasChildren(root2) ||
 (!root1->isLeaf() && (root1->bv.size() > root2_bv.size()))) {
 if (collisionRecurse_(root1->children[0], tree2, root2, root2_bv,
 translation2, callback))
 return true;
 if (collisionRecurse_(root1->children[1], tree2, root2, root2_bv,
 translation2, callback))
 return true;
 } else {
 for (unsigned int i = 0; i < 8; ++i) {
 if (tree2->nodeChildExists(root2, i)) {
 const OcTree::OcTreeNode* child = tree2->getNodeChild(root2, i);
 AABB child_bv;
 computeChildBV(root2_bv, i, child_bv);

 if (collisionRecurse_(root1, tree2, child, child_bv, translation2,
 callback))
 return true;
 } else {
 AABB child_bv;
 computeChildBV(root2_bv, i, child_bv);
 if (collisionRecurse_(root1, tree2, nullptr, child_bv, translation2,
 callback))
 return true;
 }
 }
 }
 return false;
}

//==============================================================================
template <typename Derived>
bool distanceRecurse_(DynamicAABBTreeCollisionManager::DynamicAABBNode* root1,
 const OcTree* tree2, const OcTree::OcTreeNode* root2,
 const AABB& root2_bv,
 const Eigen::MatrixBase<Derived>& translation2,
 DistanceCallBackBase* callback, CoalScalar& min_dist) {
 if (root1->isLeaf() && !tree2->nodeHasChildren(root2)) {
 if (tree2->isNodeOccupied(root2)) {
 Box* box = new Box();
 Transform3s box_tf;
 Transform3s tf2 = Transform3s::Identity();
 tf2.translation() = translation2;
 constructBox(root2_bv, tf2, *box, box_tf);
 CollisionObject obj(shared_ptr<CollisionGeometry>(box), box_tf);
 return (*callback)(static_cast<CollisionObject*>(root1->data), &obj,
 min_dist);
 } else
 return false;
 }

 if (!tree2->isNodeOccupied(root2)) return false;

 if (!tree2->nodeHasChildren(root2) ||
 (!root1->isLeaf() && (root1->bv.size() > root2_bv.size()))) {
 const AABB& aabb2 = translate(root2_bv, translation2);
 CoalScalar d1 = aabb2.distance(root1->children[0]->bv);
 CoalScalar d2 = aabb2.distance(root1->children[1]->bv);

 if (d2 < d1) {
 if (d2 < min_dist) {
 if (distanceRecurse_(root1->children[1], tree2, root2, root2_bv,
 translation2, callback, min_dist))
 return true;
 }

 if (d1 < min_dist) {
 if (distanceRecurse_(root1->children[0], tree2, root2, root2_bv,
 translation2, callback, min_dist))
 return true;
 }
 } else {
 if (d1 < min_dist) {
 if (distanceRecurse_(root1->children[0], tree2, root2, root2_bv,
 translation2, callback, min_dist))
 return true;
 }

 if (d2 < min_dist) {
 if (distanceRecurse_(root1->children[1], tree2, root2, root2_bv,
 translation2, callback, min_dist))
 return true;
 }
 }
 } else {
 for (unsigned int i = 0; i < 8; ++i) {
 if (tree2->nodeChildExists(root2, i)) {
 const OcTree::OcTreeNode* child = tree2->getNodeChild(root2, i);
 AABB child_bv;
 computeChildBV(root2_bv, i, child_bv);
 const AABB& aabb2 = translate(child_bv, translation2);

 CoalScalar d = root1->bv.distance(aabb2);

 if (d < min_dist) {
 if (distanceRecurse_(root1, tree2, child, child_bv, translation2,
 callback, min_dist))
 return true;
 }
 }
 }
 }

 return false;
}

#endif

} // namespace dynamic_AABB_tree
} // namespace detail
} // namespace coal

#endif