bool initialize(PointCloudMeshCollisionTraversalNodeRSS& node, BVHModel<RSS>& model1, const BVHModel<RSS>& model2,
BVH_REAL collision_prob_threshold,
int leaf_size_threshold,
int num_max_contacts,
bool exhaustive,
bool enable_contact,
BVH_REAL expand_r)
{
if(!(model1.getModelType() == BVH_MODEL_TRIANGLES || model1.getModelType() == BVH_MODEL_POINTCLOUD) || model2.getModelType() != BVH_MODEL_TRIANGLES)
return false;
node.model1 = &model1;
node.model2 = &model2;
node.vertices1 = model1.vertices;
node.vertices2 = model2.vertices;
node.tri_indices2 = model2.tri_indices;
node.uc1.reset(new Uncertainty[model1.num_vertices]);
estimateSamplingUncertainty(model1.vertices, model1.num_vertices, node.uc1.get());
BVHExpand(model1, node.uc1.get(), expand_r);
node.num_max_contacts = num_max_contacts;
node.exhaustive = exhaustive;
node.enable_contact = enable_contact;
node.collision_prob_threshold = collision_prob_threshold;
node.leaf_size_threshold = leaf_size_threshold;
relativeTransform(model1.getRotation(), model1.getTranslation(), model2.getRotation(), model2.getTranslation(), node.R, node.T);
return true;
}
bool initialize(MeshDistanceTraversalNodeRSS& node, const BVHModel<RSS>& model1, const BVHModel<RSS>& model2)
{
if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
return false;
node.model1 = &model1;
node.model2 = &model2;
node.vertices1 = model1.vertices;
node.vertices2 = model2.vertices;
node.tri_indices1 = model1.tri_indices;
node.tri_indices2 = model2.tri_indices;
relativeTransform(model1.getRotation(), model1.getTranslation(), model2.getRotation(), model2.getTranslation(), node.R, node.T);
return true;
}
bool initialize(MeshCollisionTraversalNodeRSS& node, const BVHModel<RSS>& model1, const BVHModel<RSS>& model2,
int num_max_contacts, bool exhaustive, bool enable_contact)
{
if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
return false;
node.vertices1 = model1.vertices;
node.vertices2 = model2.vertices;
node.tri_indices1 = model1.tri_indices;
node.tri_indices2 = model2.tri_indices;
node.model1 = &model1;
node.model2 = &model2;
node.num_max_contacts = num_max_contacts;
node.exhaustive = exhaustive;
node.enable_contact = enable_contact;
relativeTransform(model1.getRotation(), model1.getTranslation(), model2.getRotation(), model2.getTranslation(), node.R, node.T);
return true;
}
