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/** \author Jia Pan */

#ifndef HPP_FCL_BVH_INTERNAL_H
#define HPP_FCL_BVH_INTERNAL_H

#include <hpp/fcl/data_types.h>

namespace hpp
{
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
  };


}

} // namespace hpp

#endif
