mesh_octree_collision_traversal_node.h

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#ifndef FCL_TRAVERSAL_OCTREE_MESHOCTREECOLLISIONTRAVERSALNODE_H
#define FCL_TRAVERSAL_OCTREE_MESHOCTREECOLLISIONTRAVERSALNODE_H
 
#include "fcl/config.h"
#if !FCL_HAVE_OCTOMAP
#error "This header requires fcl to be compiled with octomap support"
#endif
 
#include "fcl/geometry/octree/octree.h"
#include "fcl/geometry/bvh/BVH_model.h"
#include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h"
#include "fcl/narrowphase/detail/traversal/octree/octree_solver.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename BV, typename NarrowPhaseSolver>
class FCL_EXPORT MeshOcTreeCollisionTraversalNode
    : public CollisionTraversalNodeBase<typename BV::S>
{
public:
 
  using S = typename BV::S;
 
  MeshOcTreeCollisionTraversalNode();
 
  bool BVTesting(int, int) const;
 
  void leafTesting(int, int) const;
 
  const BVHModel<BV>* model1;
  const OcTree<S>* model2;
 
  Transform3<S> tf1;
  Transform3<S> tf2;
 
  const OcTreeSolver<NarrowPhaseSolver>* otsolver;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
template <typename BV, typename NarrowPhaseSolver>
bool initialize(
    MeshOcTreeCollisionTraversalNode<BV, NarrowPhaseSolver>& node,
    const BVHModel<BV>& model1,
    const Transform3<typename BV::S>& tf1,
    const OcTree<typename BV::S>& model2,
    const Transform3<typename BV::S>& tf2,
    const OcTreeSolver<NarrowPhaseSolver>* otsolver,
    const CollisionRequest<typename BV::S>& request,
    CollisionResult<typename BV::S>& result);
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/octree/collision/mesh_octree_collision_traversal_node-inl.h"
 
#endif