git-svn-id: https://kforge.ros.org/fcl/fcl_ros@91 253336fb-580f-4252-a368-f3cef5a2a82b

trunk/fcl/include/fcl/sse_intersect.h

-/*
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- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
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- *  Redistribution and use in source and binary forms, with or without
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- *     with the distribution.
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-
-/** \author Jia Pan */
-
-#ifndef FCL_SIMD_INTERSECT
-#define FCL_SIMD_INTERSECT
-
-#include "fcl/vec_3f.h"
-
-namespace fcl
-{
-
-/** \brief four spheres versus four spheres SIMD test */
-bool four_spheres_intersect_and(const Vec3f& o1, BVH_REAL r1,
-                                const Vec3f& o2, BVH_REAL r2,
-                                const Vec3f& o3, BVH_REAL r3,
-                                const Vec3f& o4, BVH_REAL r4,
-                                const Vec3f& o5, BVH_REAL r5,
-                                const Vec3f& o6, BVH_REAL r6,
-                                const Vec3f& o7, BVH_REAL r7,
-                                const Vec3f& o8, BVH_REAL r8);
-
-bool four_spheres_intersect_or(const Vec3f& o1, BVH_REAL r1,
-                               const Vec3f& o2, BVH_REAL r2,
-                               const Vec3f& o3, BVH_REAL r3,
-                               const Vec3f& o4, BVH_REAL r4,
-                               const Vec3f& o5, BVH_REAL r5,
-                               const Vec3f& o6, BVH_REAL r6,
-                               const Vec3f& o7, BVH_REAL r7,
-                               const Vec3f& o8, BVH_REAL r8);
-
-/** \brief four spheres versus four AABBs SIMD test */
-bool four_spheres_four_AABBs_intersect_and(const Vec3f& o1, BVH_REAL r1,
-                                           const Vec3f& o2, BVH_REAL r2,
-                                           const Vec3f& o3, BVH_REAL r3,
-                                           const Vec3f& o4, BVH_REAL r4,
-                                           const Vec3f& min1, const Vec3f& max1,
-                                           const Vec3f& min2, const Vec3f& max2,
-                                           const Vec3f& min3, const Vec3f& max3,
-                                           const Vec3f& min4, const Vec3f& max4);
-
-bool four_spheres_four_AABBs_intersect_or(const Vec3f& o1, BVH_REAL r1,
-                                          const Vec3f& o2, BVH_REAL r2,
-                                          const Vec3f& o3, BVH_REAL r3,
-                                          const Vec3f& o4, BVH_REAL r4,
-                                          const Vec3f& min1, const Vec3f& max1,
-                                          const Vec3f& min2, const Vec3f& max2,
-                                          const Vec3f& min3, const Vec3f& max3,
-                                          const Vec3f& min4, const Vec3f& max4);
-
-/** \brief four AABBs versus four AABBs SIMD test */
-bool four_AABBs_intersect_and(const Vec3f& min1, const Vec3f& max1,
-                              const Vec3f& min2, const Vec3f& max2,
-                              const Vec3f& min3, const Vec3f& max3,
-                              const Vec3f& min4, const Vec3f& max4,
-                              const Vec3f& min5, const Vec3f& max5,
-                              const Vec3f& min6, const Vec3f& max6,
-                              const Vec3f& min7, const Vec3f& max7,
-                              const Vec3f& min8, const Vec3f& max8);
-
-bool four_AABBs_intersect_or(const Vec3f& min1, const Vec3f& max1,
-                             const Vec3f& min2, const Vec3f& max2,
-                             const Vec3f& min3, const Vec3f& max3,
-                             const Vec3f& min4, const Vec3f& max4,
-                             const Vec3f& min5, const Vec3f& max5,
-                             const Vec3f& min6, const Vec3f& max6,
-                             const Vec3f& min7, const Vec3f& max7,
-                             const Vec3f& min8, const Vec3f& max8);
-
-}
-
-#endif