61 BV *child(
int n) {
return &b[n]; }
66 int BeginModel(
int num_tris = 8);
69 int AddTri(
const PQP_REAL *p1,
const PQP_REAL *p2,
const PQP_REAL *p3,
72 int MemUsage(
int msg);
88 double query_time_secs;
95 int num_pairs_alloced;
100 void Add(
int i1,
int i2);
107 int NumBVTests() {
return num_bv_tests; }
108 int NumTriTests() {
return num_tri_tests; }
109 double QueryTimeSecs() {
return query_time_secs; }
114 void FreePairsList();
118 int Colliding() {
return (num_pairs > 0); }
119 int NumPairs() {
return num_pairs; }
120 int Id1(
int k) {
return pairs[k].id1; }
121 int Id2(
int k) {
return pairs[k].id2; }
124 #if PQP_BV_TYPE & RSS_TYPE // distance/tolerance are only available with RSS
132 double query_time_secs;
149 int NumBVTests() {
return num_bv_tests; }
150 int NumTriTests() {
return num_tri_tests; }
151 double QueryTimeSecs() {
return query_time_secs; }
158 PQP_REAL Distance() {
return distance; }
159 const PQP_REAL *P1() {
return p1; }
160 const PQP_REAL *P2() {
return p2; }
169 double query_time_secs;
176 int closer_than_tolerance;
186 int NumBVTests() {
return num_bv_tests; }
187 int NumTriTests() {
return num_tri_tests; }
188 double QueryTimeSecs() {
return query_time_secs; }
194 PQP_REAL Distance() {
return distance; }
195 const PQP_REAL *P1() {
return p1; }
196 const PQP_REAL *P2() {
return p2; }
200 int CloserThanTolerance() {
return closer_than_tolerance; }