traversal_node_base.h
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00001 /*
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00034 
00037 #ifndef FCL_TRAVERSAL_NODE_BASE_H
00038 #define FCL_TRAVERSAL_NODE_BASE_H
00039 
00040 #include "fcl/data_types.h"
00041 #include "fcl/math/transform.h"
00042 #include "fcl/collision_data.h"
00043 
00044 namespace fcl
00045 {
00046 
00048 class TraversalNodeBase
00049 {
00050 public:
00051   virtual ~TraversalNodeBase();
00052 
00053   virtual void preprocess() {}
00054   
00055   virtual void postprocess() {}
00056 
00058   virtual bool isFirstNodeLeaf(int b) const;
00059 
00061   virtual bool isSecondNodeLeaf(int b) const;
00062 
00064   virtual bool firstOverSecond(int b1, int b2) const;
00065 
00067   virtual int getFirstLeftChild(int b) const;
00068 
00070   virtual int getFirstRightChild(int b) const;
00071 
00073   virtual int getSecondLeftChild(int b) const;
00074 
00076   virtual int getSecondRightChild(int b) const;
00077 
00079   virtual void enableStatistics(bool enable) = 0;
00080 
00082   Transform3f tf1;
00083 
00085   Transform3f tf2;
00086 };
00087 
00089 class CollisionTraversalNodeBase : public TraversalNodeBase
00090 {
00091 public:
00092   CollisionTraversalNodeBase() : result(NULL), enable_statistics(false) {}
00093 
00094   virtual ~CollisionTraversalNodeBase();
00095 
00097   virtual bool BVTesting(int b1, int b2) const;
00098 
00100   virtual void leafTesting(int b1, int b2) const;
00101 
00103   virtual bool canStop() const;
00104 
00106   void enableStatistics(bool enable) { enable_statistics = enable; }
00107 
00109   CollisionRequest request;
00110 
00112   CollisionResult* result;
00113 
00115   bool enable_statistics;
00116 };
00117 
00119 class DistanceTraversalNodeBase : public TraversalNodeBase
00120 {
00121 public:
00122   DistanceTraversalNodeBase() : result(NULL), enable_statistics(false) {}
00123 
00124   virtual ~DistanceTraversalNodeBase();
00125 
00127   virtual FCL_REAL BVTesting(int b1, int b2) const;
00128 
00130   virtual void leafTesting(int b1, int b2) const;
00131 
00133   virtual bool canStop(FCL_REAL c) const;
00134 
00136   void enableStatistics(bool enable) { enable_statistics = enable; }
00137 
00139   DistanceRequest request;
00140 
00142   DistanceResult* result;
00143 
00145   bool enable_statistics;
00146 };
00147 
00148 }
00149 
00150 #endif
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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:31