traversal_node_base.h

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#ifndef FCL_TRAVERSAL_NODE_BASE_H
#define FCL_TRAVERSAL_NODE_BASE_H

#include "fcl/data_types.h"
#include "fcl/math/transform.h"
#include "fcl/collision_data.h"

namespace fcl
{

class TraversalNodeBase
{
public:
  virtual ~TraversalNodeBase();

  virtual void preprocess() {}
  
  virtual void postprocess() {}

  virtual bool isFirstNodeLeaf(int b) const;

  virtual bool isSecondNodeLeaf(int b) const;

  virtual bool firstOverSecond(int b1, int b2) const;

  virtual int getFirstLeftChild(int b) const;

  virtual int getFirstRightChild(int b) const;

  virtual int getSecondLeftChild(int b) const;

  virtual int getSecondRightChild(int b) const;

  virtual void enableStatistics(bool enable) = 0;

  Transform3f tf1;

  Transform3f tf2;
};

class CollisionTraversalNodeBase : public TraversalNodeBase
{
public:
  CollisionTraversalNodeBase() : result(NULL), enable_statistics(false) {}

  virtual ~CollisionTraversalNodeBase();

  virtual bool BVTesting(int b1, int b2) const;

  virtual void leafTesting(int b1, int b2) const;

  virtual bool canStop() const;

  void enableStatistics(bool enable) { enable_statistics = enable; }

  CollisionRequest request;

  CollisionResult* result;

  bool enable_statistics;
};

class DistanceTraversalNodeBase : public TraversalNodeBase
{
public:
  DistanceTraversalNodeBase() : result(NULL), enable_statistics(false) {}

  virtual ~DistanceTraversalNodeBase();

  virtual FCL_REAL BVTesting(int b1, int b2) const;

  virtual void leafTesting(int b1, int b2) const;

  virtual bool canStop(FCL_REAL c) const;

  void enableStatistics(bool enable) { enable_statistics = enable; }

  DistanceRequest request;

  DistanceResult* result;

  bool enable_statistics;
};

}

#endif