shape_collision_traversal_node.h

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#ifndef FCL_TRAVERSAL_SHAPECOLLISIONTRAVERSALNODE_H
#define FCL_TRAVERSAL_SHAPECOLLISIONTRAVERSALNODE_H
 
#include "fcl/narrowphase/contact_point.h"
#include "fcl/geometry/shape/utility.h"
#include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename Shape1, typename Shape2, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeCollisionTraversalNode
    : public CollisionTraversalNodeBase<typename Shape1::S>
{
public:
 
  using S = typename Shape1::S;
 
  ShapeCollisionTraversalNode();
 
  bool BVTesting(int, int) const;
 
  void leafTesting(int, int) const;
 
  const Shape1* model1;
  const Shape2* model2;
 
  S cost_density;
 
  const NarrowPhaseSolver* nsolver;
};
 
template <typename Shape1, typename Shape2, typename NarrowPhaseSolver>
bool initialize(
    ShapeCollisionTraversalNode<Shape1, Shape2, NarrowPhaseSolver>& node,
    const Shape1& shape1,
    const Transform3<typename Shape1::S>& tf1,
    const Shape2& shape2,
    const Transform3<typename Shape1::S>& tf2,
    const NarrowPhaseSolver* nsolver,
    const CollisionRequest<typename Shape1::S>& request,
    CollisionResult<typename Shape1::S>& result);
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/traversal/collision/shape_collision_traversal_node-inl.h"
 
#endif