mesh_octree_collision_traversal_node-inl.h

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#ifndef FCL_TRAVERSAL_OCTREE_MESHOCTREECOLLISIONTRAVERSALNODE_INL_H
#define FCL_TRAVERSAL_OCTREE_MESHOCTREECOLLISIONTRAVERSALNODE_INL_H
 
#include "fcl/narrowphase/detail/traversal/octree/collision/mesh_octree_collision_traversal_node.h"
 
namespace fcl
{
 
namespace detail
{
 
//==============================================================================
template <typename BV, typename NarrowPhaseSolver>
MeshOcTreeCollisionTraversalNode<BV, NarrowPhaseSolver>::
MeshOcTreeCollisionTraversalNode()
{
  model1 = nullptr;
  model2 = nullptr;
 
  otsolver = nullptr;
}
 
//==============================================================================
template <typename BV, typename NarrowPhaseSolver>
bool MeshOcTreeCollisionTraversalNode<BV, NarrowPhaseSolver>::
BVTesting(int, int) const
{
  return false;
}
 
//==============================================================================
template <typename BV, typename NarrowPhaseSolver>
void MeshOcTreeCollisionTraversalNode<BV, NarrowPhaseSolver>::
leafTesting(int, int) const
{
  otsolver->OcTreeMeshIntersect(
        model2, model1, tf2, tf1, this->request, *this->result);
}
 
//==============================================================================
template <typename BV, typename NarrowPhaseSolver>
bool initialize(
    MeshOcTreeCollisionTraversalNode<BV, NarrowPhaseSolver>& node,
    const BVHModel<BV>& model1,
    const Transform3<typename BV::S>& tf1,
    const OcTree<typename BV::S>& model2,
    const Transform3<typename BV::S>& tf2,
    const OcTreeSolver<NarrowPhaseSolver>* otsolver,
    const CollisionRequest<typename BV::S>& request,
    CollisionResult<typename BV::S>& result)
{
  node.request = request;
  node.result = &result;
 
  node.model1 = &model1;
  node.model2 = &model2;
 
  node.otsolver = otsolver;
 
  node.tf1 = tf1;
  node.tf2 = tf2;
 
  return true;
}
 
} // namespace detail
} // namespace fcl
 
#endif