shape_bvh_collision_traversal_node.h

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#ifndef FCL_TRAVERSAL_SHAPEBVHCOLLISIONTRAVERSALNODE_H
#define FCL_TRAVERSAL_SHAPEBVHCOLLISIONTRAVERSALNODE_H
 
#include "fcl/narrowphase/detail/traversal/traversal_node_base.h"
#include "fcl/geometry/bvh/BVH_model.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename Shape, typename BV>
class FCL_EXPORT ShapeBVHCollisionTraversalNode
    : public CollisionTraversalNodeBase<typename BV::S>
{
public:
 
  using S = typename BV::S;
 
  ShapeBVHCollisionTraversalNode();
 
  bool firstOverSecond(int, int) const;
 
  bool isSecondNodeLeaf(int b) const;
 
  int getSecondLeftChild(int b) const;
 
  int getSecondRightChild(int b) const;
 
  bool BVTesting(int b1, int b2) const;
 
  const Shape* model1;
  const BVHModel<BV>* model2;
  BV model1_bv;
 
  mutable int num_bv_tests;
  mutable int num_leaf_tests;
  mutable S query_time_seconds;
};
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/collision/shape_bvh_collision_traversal_node-inl.h"
 
#endif