/usr/include/fcl/BVH/BVH_internal.h is in libfcl-dev 0.3.0-1+b1.
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* Software License Agreement (BSD License)
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/** \author Jia Pan */
#ifndef FCL_BVH_INTERNAL_H
#define FCL_BVH_INTERNAL_H
#include "fcl/data_types.h"
namespace fcl
{
/// @brief States for BVH construction
/// empty->begun->processed ->replace_begun->processed -> ......
/// |
/// |-> update_begun -> updated -> .....
enum BVHBuildState
{
BVH_BUILD_STATE_EMPTY, /// empty state, immediately after constructor
BVH_BUILD_STATE_BEGUN, /// after beginModel(), state for adding geometry primitives
BVH_BUILD_STATE_PROCESSED, /// after tree has been build, ready for cd use
BVH_BUILD_STATE_UPDATE_BEGUN, /// after beginUpdateModel(), state for updating geometry primitives
BVH_BUILD_STATE_UPDATED, /// after tree has been build for updated geometry, ready for ccd use
BVH_BUILD_STATE_REPLACE_BEGUN, /// after beginReplaceModel(), state for replacing geometry primitives
};
/// @brief Error code for BVH
enum BVHReturnCode
{
BVH_OK = 0, /// BVH is valid
BVH_ERR_MODEL_OUT_OF_MEMORY = -1, /// Cannot allocate memory for vertices and triangles
BVH_ERR_BUILD_OUT_OF_SEQUENCE = -2, /// BVH construction does not follow correct sequence
BVH_ERR_BUILD_EMPTY_MODEL = -3, /// BVH geometry is not prepared
BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME = -4, /// BVH geometry in previous frame is not prepared
BVH_ERR_UNSUPPORTED_FUNCTION = -5, /// BVH funtion is not supported
BVH_ERR_UNUPDATED_MODEL = -6, /// BVH model update failed
BVH_ERR_INCORRECT_DATA = -7, /// BVH data is not valid
BVH_ERR_UNKNOWN = -8 /// Unknown failure
};
/// @brief BVH model type
enum BVHModelType
{
BVH_MODEL_UNKNOWN, /// @brief unknown model type
BVH_MODEL_TRIANGLES, /// @brief triangle model
BVH_MODEL_POINTCLOUD /// @brief point cloud model
};
}
#endif
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