node_base_array.h

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#ifndef HPP_FCL_BROADPHASE_DETAIL_NODEBASEARRAY_H
#define HPP_FCL_BROADPHASE_DETAIL_NODEBASEARRAY_H

#include "hpp/fcl/data_types.h"

namespace hpp {
namespace fcl {

namespace detail {

namespace implementation_array {

template <typename BV>
struct NodeBase {
  BV bv;

  union {
    size_t parent;
    size_t next;
  };

  union {
    size_t children[2];
    void* data;
  };

  uint32_t code;

  bool isLeaf() const;
  bool isInternal() const;
};

}  // namespace implementation_array
}  // namespace detail
}  // namespace fcl
}  // namespace hpp

#include "hpp/fcl/broadphase/detail/node_base_array-inl.h"

#endif