hpp-fcl 2.3.0
HPP fork of FCL -- The Flexible Collision Library
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node_base.h
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1/*
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35
38#ifndef HPP_FCL_BROADPHASE_DETAIL_NODEBASE_H
39#define HPP_FCL_BROADPHASE_DETAIL_NODEBASE_H
40
41#include "hpp/fcl/data_types.h"
42
43namespace hpp {
44namespace fcl {
45
46namespace detail {
47
49template <typename BV>
50struct NodeBase {
52 BV bv;
53
56
58 bool isLeaf() const;
59
61 bool isInternal() const;
62
63 union {
66 void* data;
67 };
68
70 uint32_t code;
71
72 NodeBase();
73};
74
75} // namespace detail
76} // namespace fcl
77} // namespace hpp
78
80
81#endif
Main namespace.
Definition: broadphase_bruteforce.h:44
dynamic AABB tree node
Definition: node_base.h:50
NodeBase< BV > * children[2]
for leaf node, children nodes
Definition: node_base.h:65
void * data
Definition: node_base.h:66
uint32_t code
morton code for current BV
Definition: node_base.h:70
NodeBase< BV > * parent
pointer to parent node
Definition: node_base.h:55
bool isInternal() const
whether is internal node
Definition: node_base-inl.h:61
bool isLeaf() const
whether is a leaf
Definition: node_base-inl.h:55
BV bv
the bounding volume for the node
Definition: node_base.h:52
NodeBase()
Definition: node_base-inl.h:67