/usr/include/fcl/BVH/BVH_front.h is in libfcl-dev 0.5.0-5.
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* Software License Agreement (BSD License)
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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/** \author Jia Pan */
#ifndef FCL_BVH_FRONT_H
#define FCL_BVH_FRONT_H
#include <list>
namespace fcl
{
/// @brief Front list acceleration for collision
/// Front list is a set of internal and leaf nodes in the BVTT hierarchy, where
/// the traversal terminates while performing a query during a given time instance. The front list reflects the subset of a
/// BVTT that is traversed for that particular proximity query.
struct BVHFrontNode
{
/// @brief The nodes to start in the future, i.e. the wave front of the traversal tree.
int left, right;
/// @brief The front node is not valid when collision is detected on the front node.
bool valid;
BVHFrontNode(int left_, int right_) : left(left_),
right(right_),
valid(true)
{
}
};
/// @brief BVH front list is a list of front nodes.
typedef std::list<BVHFrontNode> BVHFrontList;
/// @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));
}
}
#endif
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