All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends

traversal_recurse.h

00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  */
00034 
00038 #ifndef FCL_TRAVERSAL_RECURSE_H
00039 #define FCL_TRAVERSAL_RECURSE_H
00040 
00041 #include "fcl/traversal/traversal_node_base.h"
00042 #include "fcl/traversal/traversal_node_bvhs.h"
00043 #include "fcl/BVH/BVH_front.h"
00044 #include <queue>
00045 
00046 namespace fcl
00047 {
00048 
00050 void collisionRecurse(CollisionTraversalNodeBase* node, int b1, int b2, BVHFrontList* front_list);
00051 
00053 void collisionRecurse(MeshCollisionTraversalNodeOBB* node, int b1, int b2, const Matrix3f& R, const Vec3f& T, BVHFrontList* front_list);
00054 
00056 void collisionRecurse(MeshCollisionTraversalNodeRSS* node, int b1, int b2, const Matrix3f& R, const Vec3f& T, BVHFrontList* front_list);
00057 
00059 void selfCollisionRecurse(CollisionTraversalNodeBase* node, int b, BVHFrontList* front_list);
00060 
00062 void distanceRecurse(DistanceTraversalNodeBase* node, int b1, int b2, BVHFrontList* front_list);
00063 
00065 void distanceQueueRecurse(DistanceTraversalNodeBase* node, int b1, int b2, BVHFrontList* front_list, int qsize);
00066 
00068 void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase* node, BVHFrontList* front_list);
00069 
00070 
00071 }
00072 
00073 #endif