traversal_node_base.h

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#ifndef FCL_TRAVERSAL_TRAVERSALNODEBASE_H
#define FCL_TRAVERSAL_TRAVERSALNODEBASE_H
 
#include "fcl/common/types.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename S>
class FCL_EXPORT TraversalNodeBase
{
public:
  virtual ~TraversalNodeBase();
 
  virtual void preprocess();
  
  virtual void postprocess();
 
  virtual bool isFirstNodeLeaf(int b) const;
 
  virtual bool isSecondNodeLeaf(int b) const;
 
  virtual bool firstOverSecond(int b1, int b2) const;
 
  virtual int getFirstLeftChild(int b) const;
 
  virtual int getFirstRightChild(int b) const;
 
  virtual int getSecondLeftChild(int b) const;
 
  virtual int getSecondRightChild(int b) const;
 
  virtual void enableStatistics(bool enable) = 0;
 
  Transform3<S> tf1;
 
  Transform3<S> tf2;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/traversal_node_base-inl.h"
 
#endif