traversal_recurse.h

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#ifndef HPP_FCL_TRAVERSAL_RECURSE_H
#define HPP_FCL_TRAVERSAL_RECURSE_H
 
 
#include <hpp/fcl/BVH/BVH_front.h>
#include <queue>
#include <hpp/fcl/internal/traversal_node_base.h>
#include <hpp/fcl/internal/traversal_node_bvhs.h>
 
namespace hpp {
namespace fcl {
 
void collisionRecurse(CollisionTraversalNodeBase* node, unsigned int b1,
                      unsigned int b2, BVHFrontList* front_list,
                      FCL_REAL& sqrDistLowerBound);
 
void collisionNonRecurse(CollisionTraversalNodeBase* node,
                         BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound);
 
void distanceRecurse(DistanceTraversalNodeBase* node, unsigned int b1,
                     unsigned int b2, BVHFrontList* front_list);
 
void distanceQueueRecurse(DistanceTraversalNodeBase* node, unsigned int b1,
                          unsigned int b2, BVHFrontList* front_list,
                          unsigned int qsize);
 
void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase* node,
                                           const CollisionRequest& request,
                                           CollisionResult& result,
                                           BVHFrontList* front_list);
 
}  // namespace fcl
 
}  // namespace hpp
 
 
#endif