bvh_collision_traversal_node.h

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#ifndef FCL_TRAVERSAL_BVHCOLLISIONTRAVERSALNODE_H
#define FCL_TRAVERSAL_BVHCOLLISIONTRAVERSALNODE_H

#include "fcl/geometry/bvh/BVH_model.h"
#include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h"

namespace fcl
{

namespace detail
{

template <typename BV>
class BVHCollisionTraversalNode
    : public CollisionTraversalNodeBase<typename BV::S>
{
public:

  using S = typename BV::S;

  BVHCollisionTraversalNode();

  bool isFirstNodeLeaf(int b) const;

  bool isSecondNodeLeaf(int b) const;

  bool firstOverSecond(int b1, int b2) const;

  int getFirstLeftChild(int b) const;

  int getFirstRightChild(int b) const;

  int getSecondLeftChild(int b) const;

  int getSecondRightChild(int b) const;

  bool BVTesting(int b1, int b2) const;
  
  const BVHModel<BV>* model1;

  const BVHModel<BV>* model2;

  mutable int num_bv_tests;
  mutable int num_leaf_tests;
  mutable S query_time_seconds;
};

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node-inl.h"

#endif