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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2015, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* 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 |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Jia Pan */ |
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#ifndef HPP_FCL_BVH_FRONT_H |
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#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 |
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/// 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 |
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/// instance. The front list reflects the subset of a BVTT that is traversed for |
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/// that particular proximity query. |
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struct HPP_FCL_DLLAPI BVHFrontNode { |
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/// @brief The nodes to start in the future, i.e. the wave front of the |
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/// traversal tree. |
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unsigned int left, right; |
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/// @brief The front node is not valid when collision is detected on the front |
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/// node. |
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bool valid; |
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16907142 |
BVHFrontNode(unsigned int left_, unsigned int right_) |
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: 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 |
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30745223 |
inline void updateFrontList(BVHFrontList* front_list, unsigned int b1, |
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unsigned int b2) { |
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✓✓✓✗
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if (front_list) front_list->push_back(BVHFrontNode(b1, b2)); |
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30745223 |
} |
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} // namespace fcl |
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} // namespace hpp |
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#endif |