mesh_continuous_collision_traversal_node.h

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#ifndef FCL_TRAVERSAL_MESHCONTINUOUSCOLLISIONTRAVERSALNODE_H
#define FCL_TRAVERSAL_MESHCONTINUOUSCOLLISIONTRAVERSALNODE_H
 
#include "fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename S>
struct FCL_EXPORT BVHContinuousCollisionPair
{
  BVHContinuousCollisionPair();
 
  BVHContinuousCollisionPair(int id1_, int id2_, S time);
 
  int id1;
 
  int id2;
 
  S collision_time;
};
 
template <typename BV>
class FCL_EXPORT MeshContinuousCollisionTraversalNode
    : public BVHCollisionTraversalNode<BV>
{
public:
 
  using S = typename BV::S;
 
  MeshContinuousCollisionTraversalNode();
 
  void leafTesting(int b1, int b2) const;
 
  bool canStop() const;
 
  Vector3<S>* vertices1;
  Vector3<S>* vertices2;
 
  Triangle* tri_indices1;
  Triangle* tri_indices2;
 
  Vector3<S>* prev_vertices1;
  Vector3<S>* prev_vertices2;
 
  mutable int num_vf_tests;
  mutable int num_ee_tests;
 
  mutable std::vector<BVHContinuousCollisionPair<S>> pairs;
 
  mutable S time_of_contact;
};
 
template <typename BV>
FCL_EXPORT
bool initialize(
    MeshContinuousCollisionTraversalNode<BV>& node,
    const BVHModel<BV>& model1,
    const Transform3<typename BV::S>& tf1,
    const BVHModel<BV>& model2,
    const Transform3<typename BV::S>& tf2,
    const CollisionRequest<typename BV::S>& request);
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node-inl.h"
 
#endif