bvh_shape_collision_traversal_node-inl.h

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/** @author Jia Pan */

#include "fcl/narrowphase/detail/traversal/collision/bvh_shape_collision_traversal_node.h"

namespace fcl
{

namespace detail
{

//==============================================================================
template <typename Shape, typename BV>
BVHShapeCollisionTraversalNode<Shape, BV>::BVHShapeCollisionTraversalNode()
  : CollisionTraversalNodeBase<typename BV::S>()
{
  model1 = nullptr;
  model2 = nullptr;

  num_bv_tests = 0;
  num_leaf_tests = 0;
  query_time_seconds = 0.0;
}

//==============================================================================
template <typename Shape, typename BV>
bool BVHShapeCollisionTraversalNode<Shape, BV>::isFirstNodeLeaf(int b) const
{
  return model1->getBV(b).isLeaf();
}

//==============================================================================
template <typename Shape, typename BV>
int BVHShapeCollisionTraversalNode<Shape, BV>::getFirstLeftChild(int b) const
{
  return model1->getBV(b).leftChild();
}

//==============================================================================
template <typename Shape, typename BV>
int BVHShapeCollisionTraversalNode<Shape, BV>::getFirstRightChild(int b) const
{
  return model1->getBV(b).rightChild();
}

//==============================================================================
template <typename Shape, typename BV>
bool BVHShapeCollisionTraversalNode<Shape, BV>::BVTesting(int b1, int b2) const
{
  if(this->enable_statistics) num_bv_tests++;
  return !model1->getBV(b1).bv.overlap(model2_bv);
}

} // namespace detail
} // namespace fcl