spatial_hash.h

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#ifndef HPP_FCL_BROADPHASE_SPATIALHASH_H
#define HPP_FCL_BROADPHASE_SPATIALHASH_H

#include "hpp/fcl/BV/AABB.h"
#include <vector>

namespace hpp {
namespace fcl {

namespace detail {

struct HPP_FCL_DLLAPI SpatialHash {
  SpatialHash(const AABB& scene_limit_, FCL_REAL cell_size_);

  std::vector<unsigned int> operator()(const AABB& aabb) const;

 private:
  FCL_REAL cell_size;
  AABB scene_limit;
  unsigned int width[3];
};

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

#endif