bvh_collision_traversal_node-inl.h

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#ifndef FCL_TRAVERSAL_BVHCOLLISIONTRAVERSALNODE_INL_H
#define FCL_TRAVERSAL_BVHCOLLISIONTRAVERSALNODE_INL_H

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

namespace fcl
{

namespace detail
{

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

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

//==============================================================================
template <typename BV>
bool BVHCollisionTraversalNode<BV>::isFirstNodeLeaf(int b) const
{
  return model1->getBV(b).isLeaf();
}

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

//==============================================================================
template <typename BV>
bool BVHCollisionTraversalNode<BV>::firstOverSecond(int b1, int b2) const
{
  S sz1 = model1->getBV(b1).bv.size();
  S sz2 = model2->getBV(b2).bv.size();

  bool l1 = model1->getBV(b1).isLeaf();
  bool l2 = model2->getBV(b2).isLeaf();

  if(l2 || (!l1 && (sz1 > sz2)))
    return true;
  return false;
}

//==============================================================================
template <typename BV>
int BVHCollisionTraversalNode<BV>::getFirstLeftChild(int b) const
{
  return model1->getBV(b).leftChild();
}

//==============================================================================
template <typename BV>
int BVHCollisionTraversalNode<BV>::getFirstRightChild(int b) const
{
  return model1->getBV(b).rightChild();
}

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

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

//==============================================================================
template <typename BV>
bool BVHCollisionTraversalNode<BV>::BVTesting(int b1, int b2) const
{
  if(this->enable_statistics) num_bv_tests++;
  return !model1->getBV(b1).overlap(model2->getBV(b2));
}

} // namespace detail
} // namespace fcl

#endif