shape_bvh_collision_traversal_node-inl.h

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#ifndef FCL_TRAVERSAL_SHAPEBVHCOLLISIONTRAVERSALNODE_INL_H
#define FCL_TRAVERSAL_SHAPEBVHCOLLISIONTRAVERSALNODE_INL_H

#include "fcl/narrowphase/detail/traversal/collision/shape_bvh_collision_traversal_node.h"

#include "fcl/common/unused.h"

namespace fcl
{

namespace detail
{

//==============================================================================
template <typename Shape, typename BV>
ShapeBVHCollisionTraversalNode<Shape, BV>::ShapeBVHCollisionTraversalNode()
  : CollisionTraversalNodeBase<typename BV::S>()
{
  model1 = nullptr;
  model2 = nullptr;

  num_bv_tests = 0;
  num_leaf_tests = 0;
  query_time_seconds = 0.0;
}

//==============================================================================
template <typename Shape, typename BV>
bool ShapeBVHCollisionTraversalNode<Shape, BV>::firstOverSecond(int, int) const
{
  return false;
}

//==============================================================================
template <typename Shape, typename BV>
bool ShapeBVHCollisionTraversalNode<Shape, BV>::isSecondNodeLeaf(int b) const
{
  return model2->getBV(b).isLeaf();
}

//==============================================================================
template <typename Shape, typename BV>
int ShapeBVHCollisionTraversalNode<Shape, BV>::getSecondLeftChild(int b) const
{
  return model2->getBV(b).leftChild();
}

//==============================================================================
template <typename Shape, typename BV>
int ShapeBVHCollisionTraversalNode<Shape, BV>::getSecondRightChild(int b) const
{
  return model2->getBV(b).rightChild();
}

//==============================================================================
template <typename Shape, typename BV>
bool ShapeBVHCollisionTraversalNode<Shape, BV>::BVTesting(int b1, int b2) const
{
  FCL_UNUSED(b1);

  if(this->enable_statistics) num_bv_tests++;
  return !model2->getBV(b2).bv.overlap(model1_bv);
}

} // namespace detail
} // namespace fcl

#endif