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/** \author Jia Pan */

#ifndef HPP_FCL_BVH_FRONT_H
#define HPP_FCL_BVH_FRONT_H


#include <list>

#include <hpp/fcl/config.hh>

namespace hpp
{
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 HPP_FCL_DLLAPI 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));
}


}

} // namespace hpp

#endif
