/** Recurse function for self collision
* Make sure node is set correctly so that the first and second tree are the same
*/
void selfCollisionRecurse(CollisionTraversalNodeBase* node, int b, BVHFrontList* front_list)
{
bool l = node->isFirstNodeLeaf(b);
if(l) return;
int c1 = node->getFirstLeftChild(b);
int c2 = node->getFirstRightChild(b);
selfCollisionRecurse(node, c1, front_list);
if(node->canStop() && !front_list) return;
selfCollisionRecurse(node, c2, front_list);
if(node->canStop() && !front_list) return;
collisionRecurse(node, c1, c2, front_list);
}
/** Recurse function for self collision
* Make sure node is set correctly so that the first and second tree are the same
*/
void selfCollisionRecurse(CollisionTraversalNodeBase* node, int bv_node_id, BVHFrontList* front_list)
{
bool is_first_node_leaf = node->isFirstNodeLeaf(bv_node_id);
if(is_first_node_leaf) return;
int left_child = node->getFirstLeftChild(bv_node_id);
int right_child = node->getFirstRightChild(bv_node_id);
selfCollisionRecurse(node, left_child, front_list);
if(node->canStop() && !front_list) return;
selfCollisionRecurse(node, right_child, front_list);
if(node->canStop() && !front_list) return;
collisionRecurse(node, left_child, right_child, front_list);
}
void selfCollide(CollisionTraversalNodeBase* node, BVHFrontList* front_list)
{
if(front_list && front_list->size() > 0)
{
propagateBVHFrontListCollisionRecurse(node, front_list);
}
else
{
selfCollisionRecurse(node, 0, front_list);
}
}
void selfCollide(CollisionTraversalNodeBase* node, BVHFrontList* front_list)
{
FCL_REAL sqrDistLowerBound = 0;
if(front_list && front_list->size() > 0)
{
propagateBVHFrontListCollisionRecurse(node, front_list, sqrDistLowerBound);
}
else
{
selfCollisionRecurse(node, 0, front_list);
}
}
