FCL  0.6.0
Flexible Collision Library
node_base.h
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35 
38 #ifndef FCL_BROADPHASE_DETAIL_NODEBASE_H
39 #define FCL_BROADPHASE_DETAIL_NODEBASE_H
40 
41 #include "fcl/common/types.h"
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
50 template<typename BV>
51 struct NodeBase
52 {
54  BV bv;
55 
58 
60  bool isLeaf() const;
61 
63  bool isInternal() const;
64 
65  union
66  {
69  void* data;
70  };
71 
73  uint32 code;
74 
75  NodeBase();
76 };
77 
78 } // namespace detail
79 } // namespace fcl
80 
81 #include "fcl/broadphase/detail/node_base-inl.h"
82 
83 #endif
dynamic AABB<S> tree node
Definition: node_base.h:51
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
NodeBase< BV > * parent
pointer to parent node
Definition: node_base.h:57
NodeBase< BV > * children[2]
for leaf node, children nodes
Definition: node_base.h:68
uint32 code
morton code for current BV
Definition: node_base.h:73
bool isInternal() const
whether is internal node
Definition: node_base-inl.h:64
bool isLeaf() const
whether is a leaf
Definition: node_base-inl.h:57
BV bv
the bounding volume for the node
Definition: node_base.h:54