From ac2776b157c607a2e3a24e3c16625d8c67b1b6ab Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Fri, 3 Aug 2012 18:44:44 +0000
Subject: [PATCH] More reorganize of files
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@153 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/CMakeLists.txt | 2 +-
trunk/fcl/include/fcl/BV/AABB.h | 1 -
trunk/fcl/include/fcl/{ => BV}/BV.h | 0
trunk/fcl/include/fcl/{ => BV}/BV_node.h | 2 +-
trunk/fcl/include/fcl/BV/OBB.h | 2 +-
trunk/fcl/include/fcl/BV/OBBRSS.h | 4 +---
trunk/fcl/include/fcl/BV/RSS.h | 2 +-
trunk/fcl/include/fcl/BV/kDOP.h | 2 +-
trunk/fcl/include/fcl/{ => BVH}/BVH_front.h | 0
trunk/fcl/include/fcl/{ => BVH}/BVH_internal.h | 0
trunk/fcl/include/fcl/{ => BVH}/BVH_model.h | 9 ++++-----
trunk/fcl/include/fcl/{ => BVH}/BVH_utility.h | 2 +-
trunk/fcl/include/fcl/{ => BVH}/BV_fitter.h | 3 +--
trunk/fcl/include/fcl/{ => BVH}/BV_splitter.h | 6 +-----
.../fcl/broadphase/broadphase_dynamic_AABB_tree.h | 4 ++--
.../broadphase/broadphase_dynamic_AABB_tree_array.h | 4 ++--
trunk/fcl/include/fcl/ccd/interval.h | 3 +--
trunk/fcl/include/fcl/collision_node.h | 6 +++---
trunk/fcl/include/fcl/intersect.h | 3 ---
trunk/fcl/include/fcl/math/vec_3f.h | 2 +-
trunk/fcl/include/fcl/narrowphase/gjk.h | 2 +-
trunk/fcl/include/fcl/narrowphase/gjk_libccd.h | 2 +-
.../fcl/{ => shape}/geometric_shape_to_BVH_model.h | 4 ++--
trunk/fcl/include/fcl/{ => shape}/geometric_shapes.h | 0
.../include/fcl/{ => shape}/geometric_shapes_utility.h | 4 ++--
.../include/fcl/{ => traversal}/traversal_node_base.h | 0
.../fcl/{ => traversal}/traversal_node_bvh_shape.h | 9 +++++----
.../include/fcl/{ => traversal}/traversal_node_bvhs.h | 8 ++++----
.../fcl/{ => traversal}/traversal_node_octree.h | 6 +++---
.../include/fcl/{ => traversal}/traversal_node_setup.h | 10 +++++-----
.../fcl/{ => traversal}/traversal_node_shapes.h | 4 ++--
.../include/fcl/{ => traversal}/traversal_recurse.h | 6 +++---
trunk/fcl/src/BV/OBB.cpp | 2 +-
trunk/fcl/src/BV/RSS.cpp | 2 +-
trunk/fcl/src/BV/kIOS.cpp | 2 +-
trunk/fcl/src/{ => BVH}/BVH_model.cpp | 4 ++--
trunk/fcl/src/{ => BVH}/BVH_utility.cpp | 2 +-
trunk/fcl/src/{ => BVH}/BV_fitter.cpp | 4 ++--
trunk/fcl/src/{ => BVH}/BV_splitter.cpp | 2 +-
trunk/fcl/src/ccd/conservative_advancement.cpp | 8 +++++---
trunk/fcl/src/collision_func_matrix.cpp | 2 +-
trunk/fcl/src/collision_node.cpp | 2 +-
trunk/fcl/src/distance_func_matrix.cpp | 2 +-
trunk/fcl/src/{ => shape}/geometric_shapes.cpp | 4 ++--
trunk/fcl/src/{ => shape}/geometric_shapes_utility.cpp | 4 ++--
trunk/fcl/src/{ => traversal}/traversal_node_base.cpp | 2 +-
trunk/fcl/src/{ => traversal}/traversal_node_bvhs.cpp | 2 +-
trunk/fcl/src/{ => traversal}/traversal_node_setup.cpp | 2 +-
trunk/fcl/src/{ => traversal}/traversal_recurse.cpp | 2 +-
49 files changed, 75 insertions(+), 85 deletions(-)
rename trunk/fcl/include/fcl/{ => BV}/BV.h (100%)
rename trunk/fcl/include/fcl/{ => BV}/BV_node.h (99%)
rename trunk/fcl/include/fcl/{ => BVH}/BVH_front.h (100%)
rename trunk/fcl/include/fcl/{ => BVH}/BVH_internal.h (100%)
rename trunk/fcl/include/fcl/{ => BVH}/BVH_model.h (98%)
rename trunk/fcl/include/fcl/{ => BVH}/BVH_utility.h (99%)
rename trunk/fcl/include/fcl/{ => BVH}/BV_fitter.h (99%)
rename trunk/fcl/include/fcl/{ => BVH}/BV_splitter.h (98%)
rename trunk/fcl/include/fcl/{ => shape}/geometric_shape_to_BVH_model.h (99%)
rename trunk/fcl/include/fcl/{ => shape}/geometric_shapes.h (100%)
rename trunk/fcl/include/fcl/{ => shape}/geometric_shapes_utility.h (98%)
rename trunk/fcl/include/fcl/{ => traversal}/traversal_node_base.h (100%)
rename trunk/fcl/include/fcl/{ => traversal}/traversal_node_bvh_shape.h (99%)
rename trunk/fcl/include/fcl/{ => traversal}/traversal_node_bvhs.h (99%)
rename trunk/fcl/include/fcl/{ => traversal}/traversal_node_octree.h (99%)
rename trunk/fcl/include/fcl/{ => traversal}/traversal_node_setup.h (99%)
rename trunk/fcl/include/fcl/{ => traversal}/traversal_node_shapes.h (98%)
rename trunk/fcl/include/fcl/{ => traversal}/traversal_recurse.h (96%)
rename trunk/fcl/src/{ => BVH}/BVH_model.cpp (99%)
rename trunk/fcl/src/{ => BVH}/BVH_utility.cpp (99%)
rename trunk/fcl/src/{ => BVH}/BV_fitter.cpp (99%)
rename trunk/fcl/src/{ => BVH}/BV_splitter.cpp (99%)
rename trunk/fcl/src/{ => shape}/geometric_shapes.cpp (98%)
rename trunk/fcl/src/{ => shape}/geometric_shapes_utility.cpp (99%)
rename trunk/fcl/src/{ => traversal}/traversal_node_base.cpp (98%)
rename trunk/fcl/src/{ => traversal}/traversal_node_bvhs.cpp (99%)
rename trunk/fcl/src/{ => traversal}/traversal_node_setup.cpp (99%)
rename trunk/fcl/src/{ => traversal}/traversal_recurse.cpp (99%)
diff --git a/trunk/fcl/CMakeLists.txt b/trunk/fcl/CMakeLists.txt
index b376bc74..0d75d702 100644
--- a/trunk/fcl/CMakeLists.txt
+++ b/trunk/fcl/CMakeLists.txt
@@ -33,7 +33,7 @@ link_directories(${OCTOMAP_LIBRARY_DIRS})
add_definitions(-DUSE_SVMLIGHT=0)
-add_library(${PROJECT_NAME} SHARED src/BV/AABB.cpp src/BV/OBB.cpp src/BV/RSS.cpp src/BV/kIOS.cpp src/BV/OBBRSS.cpp src/BV/kDOP.cpp src/traversal_node_base.cpp src/traversal_node_bvhs.cpp src/intersect.cpp src/ccd/motion.cpp src/BV_fitter.cpp src/BV_splitter.cpp src/BVH_model.cpp src/BVH_utility.cpp src/math/transform.cpp src/traversal_node_setup.cpp src/geometric_shapes.cpp src/geometric_shapes_utility.cpp src/collision_node.cpp src/traversal_recurse.cpp src/broadphase/broadphase_bruteforce.cpp src/broadphase/broadphase_spatialhash.cpp src/broadphase/broadphase_SaP.cpp src/broadphase/broadphase_SSaP.cpp src/broadphase/broadphase_interval_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree_array.cpp src/collision.cpp src/collision_func_matrix.cpp src/broadphase/interval_tree.cpp src/ccd/conservative_advancement.cpp src/ccd/interval.cpp src/ccd/interval_vector.cpp src/ccd/interval_matrix.cpp src/ccd/taylor_model.cpp src/ccd/taylor_vector.cpp src/ccd/taylor_matrix.cpp src/distance_func_matrix.cpp src/distance.cpp src/narrowphase/gjk.cpp src/narrowphase/gjk_libccd.cpp src/narrowphase/narrowphase.cpp src/broadphase/hierarchy_tree.cpp src/profile.cpp src/collision_data.cpp)
+add_library(${PROJECT_NAME} SHARED src/BV/AABB.cpp src/BV/OBB.cpp src/BV/RSS.cpp src/BV/kIOS.cpp src/BV/OBBRSS.cpp src/BV/kDOP.cpp src/traversal/traversal_node_base.cpp src/traversal/traversal_node_bvhs.cpp src/intersect.cpp src/ccd/motion.cpp src/BVH/BV_fitter.cpp src/BVH/BV_splitter.cpp src/BVH/BVH_model.cpp src/BVH/BVH_utility.cpp src/math/transform.cpp src/traversal/traversal_node_setup.cpp src/shape/geometric_shapes.cpp src/shape/geometric_shapes_utility.cpp src/collision_node.cpp src/traversal/traversal_recurse.cpp src/broadphase/broadphase_bruteforce.cpp src/broadphase/broadphase_spatialhash.cpp src/broadphase/broadphase_SaP.cpp src/broadphase/broadphase_SSaP.cpp src/broadphase/broadphase_interval_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree_array.cpp src/collision.cpp src/collision_func_matrix.cpp src/broadphase/interval_tree.cpp src/ccd/conservative_advancement.cpp src/ccd/interval.cpp src/ccd/interval_vector.cpp src/ccd/interval_matrix.cpp src/ccd/taylor_model.cpp src/ccd/taylor_vector.cpp src/ccd/taylor_matrix.cpp src/distance_func_matrix.cpp src/distance.cpp src/narrowphase/gjk.cpp src/narrowphase/gjk_libccd.cpp src/narrowphase/narrowphase.cpp src/broadphase/hierarchy_tree.cpp src/profile.cpp src/collision_data.cpp)
target_link_libraries(${PROJECT_NAME} ${CCD_LIBRARIES} ${OCTOMAP_LIBRARIES})
diff --git a/trunk/fcl/include/fcl/BV/AABB.h b/trunk/fcl/include/fcl/BV/AABB.h
index 558af595..ec04609b 100644
--- a/trunk/fcl/include/fcl/BV/AABB.h
+++ b/trunk/fcl/include/fcl/BV/AABB.h
@@ -38,7 +38,6 @@
#define FCL_AABB_H
-#include "fcl/BVH_internal.h"
#include "fcl/math/vec_3f.h"
namespace fcl
diff --git a/trunk/fcl/include/fcl/BV.h b/trunk/fcl/include/fcl/BV/BV.h
similarity index 100%
rename from trunk/fcl/include/fcl/BV.h
rename to trunk/fcl/include/fcl/BV/BV.h
diff --git a/trunk/fcl/include/fcl/BV_node.h b/trunk/fcl/include/fcl/BV/BV_node.h
similarity index 99%
rename from trunk/fcl/include/fcl/BV_node.h
rename to trunk/fcl/include/fcl/BV/BV_node.h
index 9776d660..8082b2d1 100644
--- a/trunk/fcl/include/fcl/BV_node.h
+++ b/trunk/fcl/include/fcl/BV/BV_node.h
@@ -41,7 +41,7 @@
#include "fcl/math/vec_3f.h"
#include "fcl/math/matrix_3f.h"
-#include "fcl/BV.h"
+#include "fcl/BV/BV.h"
#include <iostream>
namespace fcl
diff --git a/trunk/fcl/include/fcl/BV/OBB.h b/trunk/fcl/include/fcl/BV/OBB.h
index 7138b9ad..7dbb2fa5 100644
--- a/trunk/fcl/include/fcl/BV/OBB.h
+++ b/trunk/fcl/include/fcl/BV/OBB.h
@@ -37,7 +37,7 @@
#ifndef FCL_OBB_H
#define FCL_OBB_H
-#include "fcl/BVH_internal.h"
+
#include "fcl/math/vec_3f.h"
#include "fcl/math/matrix_3f.h"
diff --git a/trunk/fcl/include/fcl/BV/OBBRSS.h b/trunk/fcl/include/fcl/BV/OBBRSS.h
index 7474f2b8..be30bc9b 100644
--- a/trunk/fcl/include/fcl/BV/OBBRSS.h
+++ b/trunk/fcl/include/fcl/BV/OBBRSS.h
@@ -37,9 +37,7 @@
#ifndef FCL_OBBRSS_H
#define FCL_OBBRSS_H
-#include "fcl/BVH_internal.h"
-#include "fcl/math/vec_3f.h"
-#include "fcl/math/matrix_3f.h"
+
#include "fcl/BV/OBB.h"
#include "fcl/BV/RSS.h"
diff --git a/trunk/fcl/include/fcl/BV/RSS.h b/trunk/fcl/include/fcl/BV/RSS.h
index f1e97dfa..fd556f6e 100644
--- a/trunk/fcl/include/fcl/BV/RSS.h
+++ b/trunk/fcl/include/fcl/BV/RSS.h
@@ -37,7 +37,7 @@
#ifndef FCL_RSS_H
#define FCL_RSS_H
-#include "fcl/BVH_internal.h"
+
#include "fcl/math/vec_3f.h"
#include "fcl/math/matrix_3f.h"
#include <boost/math/constants/constants.hpp>
diff --git a/trunk/fcl/include/fcl/BV/kDOP.h b/trunk/fcl/include/fcl/BV/kDOP.h
index ecc5f900..4560270c 100644
--- a/trunk/fcl/include/fcl/BV/kDOP.h
+++ b/trunk/fcl/include/fcl/BV/kDOP.h
@@ -37,7 +37,7 @@
#ifndef FCL_KDOP_H
#define FCL_KDOP_H
-#include "fcl/BVH_internal.h"
+
#include "fcl/math/vec_3f.h"
namespace fcl
diff --git a/trunk/fcl/include/fcl/BVH_front.h b/trunk/fcl/include/fcl/BVH/BVH_front.h
similarity index 100%
rename from trunk/fcl/include/fcl/BVH_front.h
rename to trunk/fcl/include/fcl/BVH/BVH_front.h
diff --git a/trunk/fcl/include/fcl/BVH_internal.h b/trunk/fcl/include/fcl/BVH/BVH_internal.h
similarity index 100%
rename from trunk/fcl/include/fcl/BVH_internal.h
rename to trunk/fcl/include/fcl/BVH/BVH_internal.h
diff --git a/trunk/fcl/include/fcl/BVH_model.h b/trunk/fcl/include/fcl/BVH/BVH_model.h
similarity index 98%
rename from trunk/fcl/include/fcl/BVH_model.h
rename to trunk/fcl/include/fcl/BVH/BVH_model.h
index 63e91f16..1708098e 100644
--- a/trunk/fcl/include/fcl/BVH_model.h
+++ b/trunk/fcl/include/fcl/BVH/BVH_model.h
@@ -38,11 +38,10 @@
#define FCL_BVH_MODEL_H
#include "fcl/collision_object.h"
-#include "fcl/BVH_internal.h"
-#include "fcl/BV.h"
-#include "fcl/BV_node.h"
-#include "fcl/BV_splitter.h"
-#include "fcl/BV_fitter.h"
+#include "fcl/BVH/BVH_internal.h"
+#include "fcl/BV/BV_node.h"
+#include "fcl/BVH/BV_splitter.h"
+#include "fcl/BVH/BV_fitter.h"
#include <vector>
#include <boost/shared_ptr.hpp>
diff --git a/trunk/fcl/include/fcl/BVH_utility.h b/trunk/fcl/include/fcl/BVH/BVH_utility.h
similarity index 99%
rename from trunk/fcl/include/fcl/BVH_utility.h
rename to trunk/fcl/include/fcl/BVH/BVH_utility.h
index 1025a4eb..5937b469 100644
--- a/trunk/fcl/include/fcl/BVH_utility.h
+++ b/trunk/fcl/include/fcl/BVH/BVH_utility.h
@@ -38,7 +38,7 @@
#ifndef FCL_BVH_UTILITY_H
#define FCL_BVH_UTILITY_H
-#include "fcl/BVH_model.h"
+#include "fcl/BVH/BVH_model.h"
namespace fcl
diff --git a/trunk/fcl/include/fcl/BV_fitter.h b/trunk/fcl/include/fcl/BVH/BV_fitter.h
similarity index 99%
rename from trunk/fcl/include/fcl/BV_fitter.h
rename to trunk/fcl/include/fcl/BVH/BV_fitter.h
index d5380da3..8cd54852 100644
--- a/trunk/fcl/include/fcl/BV_fitter.h
+++ b/trunk/fcl/include/fcl/BVH/BV_fitter.h
@@ -38,8 +38,7 @@
#ifndef FCL_BV_FITTER_H
#define FCL_BV_FITTER_H
-#include "fcl/BVH_internal.h"
-#include "fcl/data_types.h"
+#include "fcl/BVH/BVH_internal.h"
#include "fcl/BV/kIOS.h"
#include "fcl/BV/OBBRSS.h"
#include <iostream>
diff --git a/trunk/fcl/include/fcl/BV_splitter.h b/trunk/fcl/include/fcl/BVH/BV_splitter.h
similarity index 98%
rename from trunk/fcl/include/fcl/BV_splitter.h
rename to trunk/fcl/include/fcl/BVH/BV_splitter.h
index 8f1b6094..39e819d7 100644
--- a/trunk/fcl/include/fcl/BV_splitter.h
+++ b/trunk/fcl/include/fcl/BVH/BV_splitter.h
@@ -37,11 +37,7 @@
#ifndef FCL_BV_SPLITTER_H
#define FCL_BV_SPLITTER_H
-
-#include "fcl/BVH_internal.h"
-#include "fcl/data_types.h"
-#include "fcl/BV/OBB.h"
-#include "fcl/BV/RSS.h"
+#include "fcl/BVH/BVH_internal.h"
#include "fcl/BV/kIOS.h"
#include "fcl/BV/OBBRSS.h"
#include <vector>
diff --git a/trunk/fcl/include/fcl/broadphase/broadphase_dynamic_AABB_tree.h b/trunk/fcl/include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
index db8b49a0..2e44690d 100644
--- a/trunk/fcl/include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
+++ b/trunk/fcl/include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
@@ -41,8 +41,8 @@
#include "fcl/broadphase/broadphase.h"
#include "fcl/broadphase/hierarchy_tree.h"
#include "fcl/octree.h"
-#include "fcl/BV.h"
-#include "fcl/geometric_shapes_utility.h"
+#include "fcl/BV/BV.h"
+#include "fcl/shape/geometric_shapes_utility.h"
#include <boost/unordered_map.hpp>
#include <boost/bind.hpp>
#include <limits>
diff --git a/trunk/fcl/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h b/trunk/fcl/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
index de146fe2..f5c66406 100644
--- a/trunk/fcl/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
+++ b/trunk/fcl/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
@@ -40,8 +40,8 @@
#include "fcl/broadphase/broadphase.h"
#include "fcl/broadphase/hierarchy_tree.h"
#include "fcl/octree.h"
-#include "fcl/BV.h"
-#include "fcl/geometric_shapes_utility.h"
+#include "fcl/BV/BV.h"
+#include "fcl/shape/geometric_shapes_utility.h"
#include <boost/unordered_map.hpp>
#include <boost/bind.hpp>
#include <limits>
diff --git a/trunk/fcl/include/fcl/ccd/interval.h b/trunk/fcl/include/fcl/ccd/interval.h
index 6870ba00..e6e96b69 100644
--- a/trunk/fcl/include/fcl/ccd/interval.h
+++ b/trunk/fcl/include/fcl/ccd/interval.h
@@ -38,8 +38,7 @@
#ifndef FCL_INTERVAL_H
#define FCL_INTERVAL_H
-#include "fcl/BVH_internal.h"
-#include <cstdlib>
+#include "fcl/data_types.h"
namespace fcl
{
diff --git a/trunk/fcl/include/fcl/collision_node.h b/trunk/fcl/include/fcl/collision_node.h
index 3774dcbb..4bc7b015 100644
--- a/trunk/fcl/include/fcl/collision_node.h
+++ b/trunk/fcl/include/fcl/collision_node.h
@@ -38,9 +38,9 @@
#ifndef FCL_COLLISION_NODE_H
#define FCL_COLLISION_NODE_H
-#include "fcl/traversal_node_base.h"
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/BVH_front.h"
+#include "fcl/traversal/traversal_node_base.h"
+#include "fcl/traversal/traversal_node_bvhs.h"
+#include "fcl/BVH/BVH_front.h"
diff --git a/trunk/fcl/include/fcl/intersect.h b/trunk/fcl/include/fcl/intersect.h
index 16a1ec34..13d282f8 100644
--- a/trunk/fcl/include/fcl/intersect.h
+++ b/trunk/fcl/include/fcl/intersect.h
@@ -38,9 +38,6 @@
#define FCL_INTERSECT_H
#include "fcl/math/transform.h"
-#include "fcl/BVH_internal.h"
-#include "fcl/data_types.h"
-
namespace fcl
{
diff --git a/trunk/fcl/include/fcl/math/vec_3f.h b/trunk/fcl/include/fcl/math/vec_3f.h
index fb6e6721..37e0c596 100644
--- a/trunk/fcl/include/fcl/math/vec_3f.h
+++ b/trunk/fcl/include/fcl/math/vec_3f.h
@@ -37,7 +37,7 @@
#ifndef FCL_VEC_3F_H
#define FCL_VEC_3F_H
-#include "fcl/BVH_internal.h"
+#include "fcl/data_types.h"
#include "fcl/math/math_details.h"
#include "fcl/simd/math_simd_details.h"
#include <cmath>
diff --git a/trunk/fcl/include/fcl/narrowphase/gjk.h b/trunk/fcl/include/fcl/narrowphase/gjk.h
index 1943851f..3cebbd84 100644
--- a/trunk/fcl/include/fcl/narrowphase/gjk.h
+++ b/trunk/fcl/include/fcl/narrowphase/gjk.h
@@ -37,7 +37,7 @@
#ifndef FCL_GJK_H
#define FCL_GJK_H
-#include "fcl/geometric_shapes.h"
+#include "fcl/shape/geometric_shapes.h"
#include "fcl/math/transform.h"
namespace fcl
diff --git a/trunk/fcl/include/fcl/narrowphase/gjk_libccd.h b/trunk/fcl/include/fcl/narrowphase/gjk_libccd.h
index 985d8d6d..20c24709 100644
--- a/trunk/fcl/include/fcl/narrowphase/gjk_libccd.h
+++ b/trunk/fcl/include/fcl/narrowphase/gjk_libccd.h
@@ -38,7 +38,7 @@
#ifndef FCL_GJK_LIBCCD_H
#define FCL_GJK_LIBCCD_H
-#include "fcl/geometric_shapes.h"
+#include "fcl/shape/geometric_shapes.h"
#include "fcl/math/transform.h"
#include <ccd/ccd.h>
diff --git a/trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h b/trunk/fcl/include/fcl/shape/geometric_shape_to_BVH_model.h
similarity index 99%
rename from trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h
rename to trunk/fcl/include/fcl/shape/geometric_shape_to_BVH_model.h
index 628c1f24..7a9f83f9 100644
--- a/trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h
+++ b/trunk/fcl/include/fcl/shape/geometric_shape_to_BVH_model.h
@@ -38,8 +38,8 @@
#ifndef GEOMETRIC_SHAPE_TO_BVH_MODEL_H
#define GEOMETRIC_SHAPE_TO_BVH_MODEL_H
-#include "fcl/geometric_shapes.h"
-#include "fcl/BVH_model.h"
+#include "fcl/shape/geometric_shapes.h"
+#include "fcl/BVH/BVH_model.h"
#include <boost/math/constants/constants.hpp>
namespace fcl
diff --git a/trunk/fcl/include/fcl/geometric_shapes.h b/trunk/fcl/include/fcl/shape/geometric_shapes.h
similarity index 100%
rename from trunk/fcl/include/fcl/geometric_shapes.h
rename to trunk/fcl/include/fcl/shape/geometric_shapes.h
diff --git a/trunk/fcl/include/fcl/geometric_shapes_utility.h b/trunk/fcl/include/fcl/shape/geometric_shapes_utility.h
similarity index 98%
rename from trunk/fcl/include/fcl/geometric_shapes_utility.h
rename to trunk/fcl/include/fcl/shape/geometric_shapes_utility.h
index 68cb2869..018a0187 100644
--- a/trunk/fcl/include/fcl/geometric_shapes_utility.h
+++ b/trunk/fcl/include/fcl/shape/geometric_shapes_utility.h
@@ -39,8 +39,8 @@
#define FCL_GEOMETRIC_SHAPES_UTILITY_H
#include <vector>
-#include "fcl/geometric_shapes.h"
-#include "fcl/BV.h"
+#include "fcl/shape/geometric_shapes.h"
+#include "fcl/BV/BV.h"
namespace fcl
{
diff --git a/trunk/fcl/include/fcl/traversal_node_base.h b/trunk/fcl/include/fcl/traversal/traversal_node_base.h
similarity index 100%
rename from trunk/fcl/include/fcl/traversal_node_base.h
rename to trunk/fcl/include/fcl/traversal/traversal_node_base.h
diff --git a/trunk/fcl/include/fcl/traversal_node_bvh_shape.h b/trunk/fcl/include/fcl/traversal/traversal_node_bvh_shape.h
similarity index 99%
rename from trunk/fcl/include/fcl/traversal_node_bvh_shape.h
rename to trunk/fcl/include/fcl/traversal/traversal_node_bvh_shape.h
index 73010b8a..d2bd5cfa 100644
--- a/trunk/fcl/include/fcl/traversal_node_bvh_shape.h
+++ b/trunk/fcl/include/fcl/traversal/traversal_node_bvh_shape.h
@@ -39,10 +39,11 @@
#define FCL_TRAVERSAL_NODE_MESH_SHAPE_H
#include "fcl/collision_data.h"
-#include "fcl/geometric_shapes.h"
-#include "fcl/traversal_node_base.h"
-#include "fcl/BVH_model.h"
-#include "fcl/geometric_shapes_utility.h"
+#include "fcl/shape/geometric_shapes.h"
+#include "fcl/shape/geometric_shapes_utility.h"
+#include "fcl/traversal/traversal_node_base.h"
+#include "fcl/BVH/BVH_model.h"
+
namespace fcl
{
diff --git a/trunk/fcl/include/fcl/traversal_node_bvhs.h b/trunk/fcl/include/fcl/traversal/traversal_node_bvhs.h
similarity index 99%
rename from trunk/fcl/include/fcl/traversal_node_bvhs.h
rename to trunk/fcl/include/fcl/traversal/traversal_node_bvhs.h
index e43f7e94..5e9dd63c 100644
--- a/trunk/fcl/include/fcl/traversal_node_bvhs.h
+++ b/trunk/fcl/include/fcl/traversal/traversal_node_bvhs.h
@@ -39,10 +39,10 @@
#define FCL_TRAVERSAL_NODE_MESHES_H
#include "fcl/collision_data.h"
-#include "fcl/traversal_node_base.h"
-#include "fcl/BV_node.h"
-#include "fcl/BV.h"
-#include "fcl/BVH_model.h"
+#include "fcl/traversal/traversal_node_base.h"
+#include "fcl/BV/BV_node.h"
+#include "fcl/BV/BV.h"
+#include "fcl/BVH/BVH_model.h"
#include "fcl/intersect.h"
#include "fcl/ccd/motion.h"
diff --git a/trunk/fcl/include/fcl/traversal_node_octree.h b/trunk/fcl/include/fcl/traversal/traversal_node_octree.h
similarity index 99%
rename from trunk/fcl/include/fcl/traversal_node_octree.h
rename to trunk/fcl/include/fcl/traversal/traversal_node_octree.h
index 779df4a4..f9a54216 100644
--- a/trunk/fcl/include/fcl/traversal_node_octree.h
+++ b/trunk/fcl/include/fcl/traversal/traversal_node_octree.h
@@ -38,11 +38,11 @@
#define FCL_TRAVERSAL_NODE_OCTREE_H
#include "fcl/collision_data.h"
-#include "fcl/traversal_node_base.h"
+#include "fcl/traversal/traversal_node_base.h"
#include "fcl/narrowphase/narrowphase.h"
-#include "fcl/geometric_shapes_utility.h"
+#include "fcl/shape/geometric_shapes_utility.h"
#include "fcl/octree.h"
-#include "fcl/BVH_model.h"
+#include "fcl/BVH/BVH_model.h"
namespace fcl
{
diff --git a/trunk/fcl/include/fcl/traversal_node_setup.h b/trunk/fcl/include/fcl/traversal/traversal_node_setup.h
similarity index 99%
rename from trunk/fcl/include/fcl/traversal_node_setup.h
rename to trunk/fcl/include/fcl/traversal/traversal_node_setup.h
index cd29c379..4a231f25 100644
--- a/trunk/fcl/include/fcl/traversal_node_setup.h
+++ b/trunk/fcl/include/fcl/traversal/traversal_node_setup.h
@@ -38,11 +38,11 @@
#ifndef FCL_TRAVERSAL_NODE_SETUP_H
#define FCL_TRAVERSAL_NODE_SETUP_H
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/traversal_node_shapes.h"
-#include "fcl/traversal_node_bvh_shape.h"
-#include "fcl/traversal_node_octree.h"
-#include "fcl/BVH_utility.h"
+#include "fcl/traversal/traversal_node_bvhs.h"
+#include "fcl/traversal/traversal_node_shapes.h"
+#include "fcl/traversal/traversal_node_bvh_shape.h"
+#include "fcl/traversal/traversal_node_octree.h"
+#include "fcl/BVH/BVH_utility.h"
namespace fcl
{
diff --git a/trunk/fcl/include/fcl/traversal_node_shapes.h b/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h
similarity index 98%
rename from trunk/fcl/include/fcl/traversal_node_shapes.h
rename to trunk/fcl/include/fcl/traversal/traversal_node_shapes.h
index 0ea0845a..f015079d 100644
--- a/trunk/fcl/include/fcl/traversal_node_shapes.h
+++ b/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h
@@ -39,9 +39,9 @@
#define FCL_TRAVERSAL_NODE_SHAPES_H
#include "fcl/collision_data.h"
-#include "fcl/traversal_node_base.h"
+#include "fcl/traversal/traversal_node_base.h"
#include "fcl/narrowphase/narrowphase.h"
-#include "fcl/geometric_shapes_utility.h"
+#include "fcl/shape/geometric_shapes_utility.h"
namespace fcl
{
diff --git a/trunk/fcl/include/fcl/traversal_recurse.h b/trunk/fcl/include/fcl/traversal/traversal_recurse.h
similarity index 96%
rename from trunk/fcl/include/fcl/traversal_recurse.h
rename to trunk/fcl/include/fcl/traversal/traversal_recurse.h
index ef8b5919..bf621b46 100644
--- a/trunk/fcl/include/fcl/traversal_recurse.h
+++ b/trunk/fcl/include/fcl/traversal/traversal_recurse.h
@@ -38,9 +38,9 @@
#ifndef FCL_TRAVERSAL_RECURSE_H
#define FCL_TRAVERSAL_RECURSE_H
-#include "fcl/traversal_node_base.h"
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/BVH_front.h"
+#include "fcl/traversal/traversal_node_base.h"
+#include "fcl/traversal/traversal_node_bvhs.h"
+#include "fcl/BVH/BVH_front.h"
#include <queue>
namespace fcl
diff --git a/trunk/fcl/src/BV/OBB.cpp b/trunk/fcl/src/BV/OBB.cpp
index 6df3e995..d83f8533 100644
--- a/trunk/fcl/src/BV/OBB.cpp
+++ b/trunk/fcl/src/BV/OBB.cpp
@@ -35,7 +35,7 @@
/** \author Jia Pan */
#include "fcl/BV/OBB.h"
-#include "fcl/BVH_utility.h"
+#include "fcl/BVH/BVH_utility.h"
#include "fcl/math/transform.h"
#include <iostream>
diff --git a/trunk/fcl/src/BV/RSS.cpp b/trunk/fcl/src/BV/RSS.cpp
index ee296fce..363e752d 100644
--- a/trunk/fcl/src/BV/RSS.cpp
+++ b/trunk/fcl/src/BV/RSS.cpp
@@ -35,7 +35,7 @@
/** \author Jia Pan */
#include "fcl/BV/RSS.h"
-#include "fcl/BVH_utility.h"
+#include "fcl/BVH/BVH_utility.h"
#include <iostream>
namespace fcl
{
diff --git a/trunk/fcl/src/BV/kIOS.cpp b/trunk/fcl/src/BV/kIOS.cpp
index 3960ad5c..2dbdce96 100644
--- a/trunk/fcl/src/BV/kIOS.cpp
+++ b/trunk/fcl/src/BV/kIOS.cpp
@@ -35,7 +35,7 @@
/** \author Jia Pan */
#include "fcl/BV/kIOS.h"
-#include "fcl/BVH_utility.h"
+#include "fcl/BVH/BVH_utility.h"
#include "fcl/math/transform.h"
#include <iostream>
diff --git a/trunk/fcl/src/BVH_model.cpp b/trunk/fcl/src/BVH/BVH_model.cpp
similarity index 99%
rename from trunk/fcl/src/BVH_model.cpp
rename to trunk/fcl/src/BVH/BVH_model.cpp
index 73f768bc..8b45dcef 100644
--- a/trunk/fcl/src/BVH_model.cpp
+++ b/trunk/fcl/src/BVH/BVH_model.cpp
@@ -34,8 +34,8 @@
/** \author Jia Pan */
-#include "fcl/BVH_model.h"
-#include "fcl/BV.h"
+#include "fcl/BVH/BVH_model.h"
+#include "fcl/BV/BV.h"
#include <iostream>
#include <string.h>
diff --git a/trunk/fcl/src/BVH_utility.cpp b/trunk/fcl/src/BVH/BVH_utility.cpp
similarity index 99%
rename from trunk/fcl/src/BVH_utility.cpp
rename to trunk/fcl/src/BVH/BVH_utility.cpp
index 12ab357f..4377ad35 100644
--- a/trunk/fcl/src/BVH_utility.cpp
+++ b/trunk/fcl/src/BVH/BVH_utility.cpp
@@ -35,7 +35,7 @@
/** \author Jia Pan */
-#include "fcl/BVH_utility.h"
+#include "fcl/BVH/BVH_utility.h"
namespace fcl
{
diff --git a/trunk/fcl/src/BV_fitter.cpp b/trunk/fcl/src/BVH/BV_fitter.cpp
similarity index 99%
rename from trunk/fcl/src/BV_fitter.cpp
rename to trunk/fcl/src/BVH/BV_fitter.cpp
index 68859b61..7455f53b 100644
--- a/trunk/fcl/src/BV_fitter.cpp
+++ b/trunk/fcl/src/BVH/BV_fitter.cpp
@@ -34,8 +34,8 @@
/** \author Jia Pan */
-#include "fcl/BV_fitter.h"
-#include "fcl/BVH_utility.h"
+#include "fcl/BVH/BV_fitter.h"
+#include "fcl/BVH/BVH_utility.h"
#include <limits>
namespace fcl
diff --git a/trunk/fcl/src/BV_splitter.cpp b/trunk/fcl/src/BVH/BV_splitter.cpp
similarity index 99%
rename from trunk/fcl/src/BV_splitter.cpp
rename to trunk/fcl/src/BVH/BV_splitter.cpp
index b657363e..847ef9e9 100644
--- a/trunk/fcl/src/BV_splitter.cpp
+++ b/trunk/fcl/src/BVH/BV_splitter.cpp
@@ -34,7 +34,7 @@
/** \author Jia Pan */
-#include "fcl/BV_splitter.h"
+#include "fcl/BVH/BV_splitter.h"
namespace fcl
{
diff --git a/trunk/fcl/src/ccd/conservative_advancement.cpp b/trunk/fcl/src/ccd/conservative_advancement.cpp
index 0eb67a29..298397b7 100644
--- a/trunk/fcl/src/ccd/conservative_advancement.cpp
+++ b/trunk/fcl/src/ccd/conservative_advancement.cpp
@@ -37,12 +37,14 @@
#include "fcl/ccd/conservative_advancement.h"
#include "fcl/ccd/motion.h"
#include "fcl/collision_node.h"
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/traversal_node_setup.h"
+#include "fcl/traversal/traversal_node_bvhs.h"
+#include "fcl/traversal/traversal_node_setup.h"
+#include "fcl/traversal/traversal_recurse.h"
#include "fcl/collision.h"
-#include "fcl/traversal_recurse.h"
+
namespace fcl
+
{
template<typename BV>
diff --git a/trunk/fcl/src/collision_func_matrix.cpp b/trunk/fcl/src/collision_func_matrix.cpp
index 48b3ae56..742ef826 100644
--- a/trunk/fcl/src/collision_func_matrix.cpp
+++ b/trunk/fcl/src/collision_func_matrix.cpp
@@ -37,7 +37,7 @@
#include "fcl/collision_func_matrix.h"
-#include "fcl/traversal_node_setup.h"
+#include "fcl/traversal/traversal_node_setup.h"
#include "fcl/collision_node.h"
#include "fcl/narrowphase/narrowphase.h"
diff --git a/trunk/fcl/src/collision_node.cpp b/trunk/fcl/src/collision_node.cpp
index ef1eb832..3a83d1a3 100644
--- a/trunk/fcl/src/collision_node.cpp
+++ b/trunk/fcl/src/collision_node.cpp
@@ -36,7 +36,7 @@
#include "fcl/collision_node.h"
-#include "fcl/traversal_recurse.h"
+#include "fcl/traversal/traversal_recurse.h"
namespace fcl
{
diff --git a/trunk/fcl/src/distance_func_matrix.cpp b/trunk/fcl/src/distance_func_matrix.cpp
index d09f82e3..d5a55095 100644
--- a/trunk/fcl/src/distance_func_matrix.cpp
+++ b/trunk/fcl/src/distance_func_matrix.cpp
@@ -37,7 +37,7 @@
#include "fcl/distance_func_matrix.h"
#include "fcl/collision_node.h"
-#include "fcl/traversal_node_setup.h"
+#include "fcl/traversal/traversal_node_setup.h"
#include "fcl/narrowphase/narrowphase.h"
namespace fcl
diff --git a/trunk/fcl/src/geometric_shapes.cpp b/trunk/fcl/src/shape/geometric_shapes.cpp
similarity index 98%
rename from trunk/fcl/src/geometric_shapes.cpp
rename to trunk/fcl/src/shape/geometric_shapes.cpp
index dec91fb8..3d74f0ed 100644
--- a/trunk/fcl/src/geometric_shapes.cpp
+++ b/trunk/fcl/src/shape/geometric_shapes.cpp
@@ -35,8 +35,8 @@
/** \author Jia Pan */
-#include "fcl/geometric_shapes.h"
-#include "fcl/geometric_shapes_utility.h"
+#include "fcl/shape/geometric_shapes.h"
+#include "fcl/shape/geometric_shapes_utility.h"
namespace fcl
{
diff --git a/trunk/fcl/src/geometric_shapes_utility.cpp b/trunk/fcl/src/shape/geometric_shapes_utility.cpp
similarity index 99%
rename from trunk/fcl/src/geometric_shapes_utility.cpp
rename to trunk/fcl/src/shape/geometric_shapes_utility.cpp
index 6a88184a..b12aa52b 100644
--- a/trunk/fcl/src/geometric_shapes_utility.cpp
+++ b/trunk/fcl/src/shape/geometric_shapes_utility.cpp
@@ -35,8 +35,8 @@
/** \author Jia Pan */
-#include "fcl/geometric_shapes_utility.h"
-#include "fcl/BV_fitter.h"
+#include "fcl/shape/geometric_shapes_utility.h"
+#include "fcl/BVH/BV_fitter.h"
namespace fcl
{
diff --git a/trunk/fcl/src/traversal_node_base.cpp b/trunk/fcl/src/traversal/traversal_node_base.cpp
similarity index 98%
rename from trunk/fcl/src/traversal_node_base.cpp
rename to trunk/fcl/src/traversal/traversal_node_base.cpp
index ebcb1a6a..f228395d 100644
--- a/trunk/fcl/src/traversal_node_base.cpp
+++ b/trunk/fcl/src/traversal/traversal_node_base.cpp
@@ -35,7 +35,7 @@
/** \author Jia Pan */
-#include "fcl/traversal_node_base.h"
+#include "fcl/traversal/traversal_node_base.h"
#include <limits>
namespace fcl
diff --git a/trunk/fcl/src/traversal_node_bvhs.cpp b/trunk/fcl/src/traversal/traversal_node_bvhs.cpp
similarity index 99%
rename from trunk/fcl/src/traversal_node_bvhs.cpp
rename to trunk/fcl/src/traversal/traversal_node_bvhs.cpp
index 637d5f14..b9f8a9d6 100644
--- a/trunk/fcl/src/traversal_node_bvhs.cpp
+++ b/trunk/fcl/src/traversal/traversal_node_bvhs.cpp
@@ -35,7 +35,7 @@
/** \author Jia Pan */
-#include "fcl/traversal_node_bvhs.h"
+#include "fcl/traversal/traversal_node_bvhs.h"
namespace fcl
{
diff --git a/trunk/fcl/src/traversal_node_setup.cpp b/trunk/fcl/src/traversal/traversal_node_setup.cpp
similarity index 99%
rename from trunk/fcl/src/traversal_node_setup.cpp
rename to trunk/fcl/src/traversal/traversal_node_setup.cpp
index 46a25c22..88fc4de5 100644
--- a/trunk/fcl/src/traversal_node_setup.cpp
+++ b/trunk/fcl/src/traversal/traversal_node_setup.cpp
@@ -35,7 +35,7 @@
/** \author Jia Pan */
-#include "fcl/traversal_node_setup.h"
+#include "fcl/traversal/traversal_node_setup.h"
namespace fcl
{
diff --git a/trunk/fcl/src/traversal_recurse.cpp b/trunk/fcl/src/traversal/traversal_recurse.cpp
similarity index 99%
rename from trunk/fcl/src/traversal_recurse.cpp
rename to trunk/fcl/src/traversal/traversal_recurse.cpp
index 5b4f4e65..68ea258d 100644
--- a/trunk/fcl/src/traversal_recurse.cpp
+++ b/trunk/fcl/src/traversal/traversal_recurse.cpp
@@ -35,7 +35,7 @@
/** \author Jia Pan */
-#include "fcl/traversal_recurse.h"
+#include "fcl/traversal/traversal_recurse.h"
namespace fcl
{
--
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