collision_traversal_node_base.h

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#ifndef FCL_TRAVERSAL_COLLISIONTRAVERSALNODEBASE_H
#define FCL_TRAVERSAL_COLLISIONTRAVERSALNODEBASE_H
 
#include "fcl/narrowphase/detail/traversal/traversal_node_base.h"
#include "fcl/narrowphase/collision_request.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename S>
class FCL_EXPORT CollisionTraversalNodeBase : public TraversalNodeBase<S>
{
public:
  CollisionTraversalNodeBase();
 
  virtual ~CollisionTraversalNodeBase();
 
  virtual bool BVTesting(int b1, int b2) const;
 
  virtual void leafTesting(int b1, int b2) const;
 
  virtual bool canStop() const;
 
  void enableStatistics(bool enable);
 
  CollisionRequest<S> request;
 
  CollisionResult<S>* result;
 
  bool enable_statistics;
};
 
using CollisionTraversalNodeBasef = CollisionTraversalNodeBase<float>;
using CollisionTraversalNodeBased = CollisionTraversalNodeBase<double>;
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base-inl.h"
 
#endif