BVH_front.h 2.89 KB
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/*
 * Software License Agreement (BSD License)
 *
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 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *   * Neither the name of Open Source Robotics Foundation nor the names of its
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */

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#ifndef HPP_FCL_BVH_FRONT_H
#define HPP_FCL_BVH_FRONT_H
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#include <list>

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#include <hpp/fcl/config.hh>

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namespace hpp
{
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namespace fcl
{

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/// @brief Front list acceleration for collision
/// Front list is a set of internal and leaf nodes in the BVTT hierarchy, where
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/// the traversal terminates while performing a query during a given time instance. The front list reflects the subset of a
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/// BVTT that is traversed for that particular proximity query.
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struct HPP_FCL_DLLAPI BVHFrontNode
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{
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  /// @brief The nodes to start in the future, i.e. the wave front of the traversal tree.
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  int left, right;

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  /// @brief The front node is not valid when collision is detected on the front node.
  bool valid;
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  BVHFrontNode(int left_, int right_) : left(left_),
                                        right(right_),
                                        valid(true)
  {
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  }
};

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/// @brief BVH front list is a list of front nodes.
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typedef std::list<BVHFrontNode> BVHFrontList;

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/// @brief Add new front node into the front list
inline void updateFrontList(BVHFrontList* front_list, int b1, int b2)
{
  if(front_list) front_list->push_back(BVHFrontNode(b1, b2));
}


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}

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} // namespace hpp

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#endif