| Directory: | ./ |
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| File: | include/coal/BVH/BVH_front.h |
| Date: | 2025-04-13 14:25:19 |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| 5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
| 6 | * All rights reserved. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 15 | * copyright notice, this list of conditions and the following | ||
| 16 | * disclaimer in the documentation and/or other materials provided | ||
| 17 | * with the distribution. | ||
| 18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | */ | ||
| 35 | |||
| 36 | /** \author Jia Pan */ | ||
| 37 | |||
| 38 | #ifndef COAL_BVH_FRONT_H | ||
| 39 | #define COAL_BVH_FRONT_H | ||
| 40 | |||
| 41 | #include <list> | ||
| 42 | |||
| 43 | #include "coal/config.hh" | ||
| 44 | |||
| 45 | namespace coal { | ||
| 46 | |||
| 47 | /// @brief Front list acceleration for collision | ||
| 48 | /// Front list is a set of internal and leaf nodes in the BVTT hierarchy, where | ||
| 49 | /// the traversal terminates while performing a query during a given time | ||
| 50 | /// instance. The front list reflects the subset of a BVTT that is traversed for | ||
| 51 | /// that particular proximity query. | ||
| 52 | struct COAL_DLLAPI BVHFrontNode { | ||
| 53 | /// @brief The nodes to start in the future, i.e. the wave front of the | ||
| 54 | /// traversal tree. | ||
| 55 | unsigned int left, right; | ||
| 56 | |||
| 57 | /// @brief The front node is not valid when collision is detected on the front | ||
| 58 | /// node. | ||
| 59 | bool valid; | ||
| 60 | |||
| 61 | 16907142 | BVHFrontNode(unsigned int left_, unsigned int right_) | |
| 62 | 16907142 | : left(left_), right(right_), valid(true) {} | |
| 63 | }; | ||
| 64 | |||
| 65 | /// @brief BVH front list is a list of front nodes. | ||
| 66 | typedef std::list<BVHFrontNode> BVHFrontList; | ||
| 67 | |||
| 68 | /// @brief Add new front node into the front list | ||
| 69 | 30095233 | inline void updateFrontList(BVHFrontList* front_list, unsigned int b1, | |
| 70 | unsigned int b2) { | ||
| 71 |
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30095233 | if (front_list) front_list->push_back(BVHFrontNode(b1, b2)); |
| 72 | 30095233 | } | |
| 73 | |||
| 74 | } // namespace coal | ||
| 75 | |||
| 76 | #endif | ||
| 77 |