coal::HFNode< BV > Struct Template Reference
#include <coal/hfield.h>
Inheritance diagram for coal::HFNode< BV >:
Collaboration diagram for coal::HFNode< BV >:
Public Member Functions | |
| bool | operator== (const HFNode &other) const |
| Equality operator. More... | |
| bool | operator!= (const HFNode &other) const |
| Difference operator. More... | |
| bool | overlap (const HFNode &other) const |
| Check whether two BVNode collide. More... | |
| bool | overlap (const HFNode &other, const CollisionRequest &request, Scalar &sqrDistLowerBound) const |
| Check whether two BVNode collide. More... | |
| Scalar | distance (const HFNode &other, Vec3s *P1=NULL, Vec3s *P2=NULL) const |
| Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points. More... | |
| Vec3s | getCenter () const |
| Access to the center of the BV. More... | |
| coal::Matrix3s::IdentityReturnType | getOrientation () const |
| Access to the orientation of the BV. More... | |
| virtual | ~HFNode () |
 Public Member Functions inherited from coal::HFNodeBase | |
| HFNodeBase () | |
| Default constructor. More... | |
| bool | operator== (const HFNodeBase &other) const |
| Comparison operator. More... | |
| bool | operator!= (const HFNodeBase &other) const |
| Difference operator. More... | |
| bool | isLeaf () const |
| Whether current node is a leaf node (i.e. contains a primitive index) More... | |
| size_t | leftChild () const |
| Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More... | |
| size_t | rightChild () const |
| Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More... | |
| Eigen::Vector2i | leftChildIndexes () const |
| Eigen::Vector2i | rightChildIndexes () const |
Public Attributes | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef HFNodeBase | Base |
| BV | bv |
| bounding volume storing the geometry More... | |
| Public Attributes inherited from coal::HFNodeBase | |
| size_t | first_child |
| An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used. More... | |
| Eigen::DenseIndex | x_id |
| Eigen::DenseIndex | x_size |
| Eigen::DenseIndex | y_id |
| Eigen::DenseIndex | y_size |
| Scalar | max_height |
| int | contact_active_faces |
Additional Inherited Members | |
| Public Types inherited from coal::HFNodeBase | |
| enum class | FaceOrientation { TOP = 1 , BOTTOM = 1 , NORTH = 2 , EAST = 4 , SOUTH = 8 , WEST = 16 } |
Constructor & Destructor Documentation
◆ ~HFNode()
template<typename BV >
|
inlinevirtual |
Member Function Documentation
◆ distance()
template<typename BV >
|
inline |
Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.
◆ getCenter()
template<typename BV >
|
inline |
Access to the center of the BV.
◆ getOrientation()
template<typename BV >
|
inline |
Access to the orientation of the BV.
◆ operator!=()
template<typename BV >
|
inline |
Difference operator.
◆ operator==()
template<typename BV >
|
inline |
Equality operator.
◆ overlap() [1/2]
template<typename BV >
|
inline |
Check whether two BVNode collide.
◆ overlap() [2/2]
template<typename BV >
|
inline |
Check whether two BVNode collide.
Member Data Documentation
◆ Base
template<typename BV >
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef HFNodeBase coal::HFNode< BV >::Base |
◆ bv
template<typename BV >
| BV coal::HFNode< BV >::bv |
bounding volume storing the geometry
The documentation for this struct was generated from the following file:
- include/coal/hfield.h
