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File: | include/coal/BVH/BVH_front.h |
Date: | 2025-04-01 09:23:31 |
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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. | ||
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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. | ||
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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 | ||
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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 | 30099135 | inline void updateFrontList(BVHFrontList* front_list, unsigned int b1, | |
70 | unsigned int b2) { | ||
71 |
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30099135 | if (front_list) front_list->push_back(BVHFrontNode(b1, b2)); |
72 | 30099135 | } | |
73 | |||
74 | } // namespace coal | ||
75 | |||
76 | #endif | ||
77 |