hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
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BVH_front.h
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35
38#ifndef HPP_FCL_BVH_FRONT_H
39#define HPP_FCL_BVH_FRONT_H
40
41
42#include <list>
43
44#include <hpp/fcl/config.hh>
45
46namespace hpp
47{
48namespace fcl
49{
50
56{
58 unsigned int left, right;
59
61 bool valid;
62
63 BVHFrontNode(unsigned int left_, unsigned int right_)
64 : left(left_)
65 , right(right_)
66 , valid(true)
67 {
68 }
69};
70
72typedef std::list<BVHFrontNode> BVHFrontList;
73
75inline void updateFrontList(BVHFrontList* front_list, unsigned int b1, unsigned int b2)
76{
77 if(front_list) front_list->push_back(BVHFrontNode(b1, b2));
78}
79
80
81}
82
83} // namespace hpp
84
85#endif
#define HPP_FCL_DLLAPI
Definition: config.hh:64
void updateFrontList(BVHFrontList *front_list, unsigned int b1, unsigned int b2)
Add new front node into the front list.
Definition: BVH_front.h:75
std::list< BVHFrontNode > BVHFrontList
BVH front list is a list of front nodes.
Definition: BVH_front.h:72
Main namespace.
Definition: AABB.h:44
Front list acceleration for collision Front list is a set of internal and leaf nodes in the BVTT hier...
Definition: BVH_front.h:56
bool valid
The front node is not valid when collision is detected on the front node.
Definition: BVH_front.h:61
BVHFrontNode(unsigned int left_, unsigned int right_)
Definition: BVH_front.h:63
unsigned int left
The nodes to start in the future, i.e. the wave front of the traversal tree.
Definition: BVH_front.h:58