distance.h

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#ifndef HPP_FCL_DISTANCE_H
#define HPP_FCL_DISTANCE_H
 
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/distance_func_matrix.h>
 
namespace hpp
{
namespace fcl
{
 
HPP_FCL_DLLAPI FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2,
                                 const DistanceRequest& request, DistanceResult& result);
 
HPP_FCL_DLLAPI FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
                                 const CollisionGeometry* o2, const Transform3f& tf2,
                                 const DistanceRequest& request, DistanceResult& result);
 
inline FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2,
    DistanceRequest& request, DistanceResult& result)
{
  FCL_REAL res = distance(o1, o2, (const DistanceRequest&) request, result);
  request.updateGuess (result);
  return res;
}
 
inline FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
                         const CollisionGeometry* o2, const Transform3f& tf2,
                         DistanceRequest& request, DistanceResult& result)
{
  FCL_REAL res = distance(o1, tf1, o2, tf2,
      (const DistanceRequest&) request, result);
  request.updateGuess (result);
  return res;
}
 
class HPP_FCL_DLLAPI ComputeDistance {
public:
  ComputeDistance(const CollisionGeometry* o1, const CollisionGeometry* o2);
 
  FCL_REAL operator()(const Transform3f& tf1, const Transform3f& tf2,
      const DistanceRequest& request, DistanceResult& result)
  {
    bool cached = request.enable_cached_gjk_guess;
    solver.enable_cached_guess = cached;
    if (cached) {
      solver.cached_guess = request.cached_gjk_guess;
      solver.support_func_cached_guess = request.cached_support_func_guess;
    }
 
    FCL_REAL res;
    if (swap_geoms) {
      res = func(o2, tf2, o1, tf1, &solver, request, result);
      if (request.enable_nearest_points) {
        std::swap(result.o1, result.o2);
        result.nearest_points[0].swap(result.nearest_points[1]);
      }
    } else {
      res = func (o1, tf1, o2, tf2, &solver, request, result);
    }
 
    if (cached) {
      result.cached_gjk_guess = solver.cached_guess;
      result.cached_support_func_guess = solver.support_func_cached_guess;
    }
    return res;
  }
 
  inline FCL_REAL operator()(const Transform3f& tf1, const Transform3f& tf2,
      DistanceRequest& request, DistanceResult& result)
  {
    FCL_REAL res = operator()(tf1, tf2, (const DistanceRequest&) request, result);
    request.updateGuess (result);
    return res;
  }
 
private:
  CollisionGeometry const *o1, *o2;
  GJKSolver solver;
 
  DistanceFunctionMatrix::DistanceFunc func;
  bool swap_geoms;
};
 
} // namespace fcl
} // namespace hpp
 
#endif