BV_node_base.h
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35 
38 #ifndef FCL_BV_BVNODEBASE_H
39 #define FCL_BV_BVNODEBASE_H
40 
41 #include <iostream>
42 #include "fcl/math/bv/OBB.h"
43 #include "fcl/math/bv/RSS.h"
44 #include "fcl/math/bv/OBBRSS.h"
45 
46 namespace fcl
47 {
48 
50 struct FCL_EXPORT BVNodeBase
51 {
56  int first_child;
57 
60  int first_primitive;
61 
63  int num_primitives;
64 
66  bool isLeaf() const;
67 
69  int primitiveId() const;
70 
72  int leftChild() const;
73 
75  int rightChild() const;
76 };
77 
78 } // namespace fcl
79 
80 #endif
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::BVNodeBase
BVNodeBase encodes the tree structure for BVH.
Definition: BV_node_base.h:50
fcl::BVNodeBase::first_child
int first_child
An index for first child node or primitive If the value is positive, it is the index of the first chi...
Definition: BV_node_base.h:56
fcl::BVNodeBase::num_primitives
int num_primitives
The number of primitives belonging to the current node.
Definition: BV_node_base.h:63
fcl::BVNodeBase::first_primitive
int first_primitive
The start id the primitive belonging to the current node. The index is referred to the primitive_indi...
Definition: BV_node_base.h:60

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autogenerated on Thu Mar 23 2023 03:00:17