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 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