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primitive.h

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/*
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#ifndef COLLISION_CHECKING_PRIMITIVE_H
#define COLLISION_CHECKING_PRIMITIVE_H

#include "collision_checking/BVH_defs.h"

namespace collision_checking
{

struct Triangle3e
{
  unsigned int vids[3];

  int geom_id; // > 0 (geom_id - 1) is the index for geom object
               // < 0 -(geom_id + 1) is the index for space object
               // == 0 unset

  int sub_geom_id; // the sub geom index within each object
                   // for geom object: > 0 means attached body according to environment setting

  Triangle3e() {}

  Triangle3e(unsigned int p1, unsigned int p2, unsigned int p3)
  {
    set(p1, p2, p3);
  }

  inline void set(unsigned int p1, unsigned int p2, unsigned int p3)
  {
    vids[0] = p1; vids[1] = p2; vids[2] = p3;
  }

  inline unsigned int operator[](int i) const { return vids[i]; }

  inline unsigned int& operator[](int i) { return vids[i]; }
};

typedef Triangle3e Triangle;

struct Triangle3f
{
  unsigned int fids[3];

  Triangle3f()
  {
    set(-1, -1, -1);
  }

  Triangle3f(unsigned int fid0, unsigned int fid1, unsigned int fid2)
  {
    set(fid0, fid1, fid2);
  }

  inline void set(unsigned int fid0, unsigned int fid1, unsigned int fid2)
  {
    fids[0] = fid0; fids[1] = fid1; fids[2] = fid2;
  }

  inline unsigned int operator[](int i) const { return fids[i]; }

  inline unsigned int& operator[](int j) { return fids[j]; }
};

struct Edge2f
{
  unsigned int vids[2];
  unsigned int fids[2];

  Edge2f()
  {
    vids[0] = -1; vids[1] = -1;
    fids[0] = -1; fids[1] = -1;
  }

  Edge2f(unsigned int vid0, unsigned int vid1, unsigned int fid)
  {
    vids[0] = vid0;
    vids[1] = vid1;
    fids[0] = fid;
  }

  bool operator == (const Edge2f& other) const
  {
    return (vids[0] == other.vids[0]) && (vids[1] == other.vids[1]);
  }

  bool operator < (const Edge2f& other) const
  {
    if(vids[0] == other.vids[0])
      return vids[1] < other.vids[1];

    return vids[0] < other.vids[0];
  }

};

}


#endif

---

collision_checking
Author(s): Jia Pan, Dinesh Manocha (UNC, Chapel Hill)
autogenerated on Fri Mar 1 14:56:47 2013