fcl::BVHCollisionTraversalNode< BV > Class Template Reference

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Traversal node for collision between BVH models. More...

#include <hpp/fcl/traversal/traversal_node_bvhs.h>

Inheritance diagram for fcl::BVHCollisionTraversalNode< BV >:

Inheritance graph

Collaboration diagram for fcl::BVHCollisionTraversalNode< BV >:

Collaboration graph

Public Member Functions
	BVHCollisionTraversalNode (bool enable_distance_lower_bound)

bool	isFirstNodeLeaf (int b) const
	Whether the BV node in the first BVH tree is leaf. More...

bool	isSecondNodeLeaf (int b) const
	Whether the BV node in the second BVH tree is leaf. More...

bool	firstOverSecond (int b1, int b2) const
	Determine the traversal order, is the first BVTT subtree better. More...

int	getFirstLeftChild (int b) const
	Obtain the left child of BV node in the first BVH. More...

int	getFirstRightChild (int b) const
	Obtain the right child of BV node in the first BVH. More...

int	getSecondLeftChild (int b) const
	Obtain the left child of BV node in the second BVH. More...

int	getSecondRightChild (int b) const
	Obtain the right child of BV node in the second BVH. More...

bool	BVTesting (int b1, int b2) const
	BV culling test in one BVTT node. More...

bool	BVTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const
	BV test between b1 and b2. More...

Public Member Functions inherited from fcl::CollisionTraversalNodeBase
	CollisionTraversalNodeBase (bool enable_distance_lower_bound_=false)

virtual	~CollisionTraversalNodeBase ()

virtual void	leafTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const
	Leaf test between node b1 and b2, if they are both leafs. More...

virtual bool	canStop () const
	Check whether the traversal can stop. More...

void	enableStatistics (bool enable)
	Whether store some statistics information during traversal. More...

Public Member Functions inherited from fcl::TraversalNodeBase
virtual	~TraversalNodeBase ()

virtual void	preprocess ()

virtual void	postprocess ()

Public Attributes
const BVHModel< BV > *	model1
	The first BVH model. More...

const BVHModel< BV > *	model2
	The second BVH model. More...

int	num_bv_tests
	statistical information More...

int	num_leaf_tests

FCL_REAL	query_time_seconds

Public Attributes inherited from fcl::CollisionTraversalNodeBase
CollisionRequest	request
	request setting for collision More...

CollisionResult *	result
	collision result kept during the traversal iteration More...

bool	enable_statistics
	Whether stores statistics. More...

bool	enable_distance_lower_bound
	Whether to compute a lower bound on distance between bounding volumes. More...

Public Attributes inherited from fcl::TraversalNodeBase
Transform3f	tf1
	configuation of first object More...

Transform3f	tf2
	configuration of second object More...

Detailed Description

template<typename BV>
class fcl::BVHCollisionTraversalNode< BV >

Traversal node for collision between BVH models.

Constructor & Destructor Documentation

template<typename BV>

fcl::BVHCollisionTraversalNode< BV >::BVHCollisionTraversalNode ( bool enable_distance_lower_bound )

inline

Member Function Documentation

template<typename BV>

bool fcl::BVHCollisionTraversalNode< BV >::BVTesting	(	int	b1,
		int	b2
	)		const

inlinevirtual

BV culling test in one BVTT node.

Implements fcl::CollisionTraversalNodeBase.

template<typename BV>

bool fcl::BVHCollisionTraversalNode< BV >::BVTesting	(	int	b1,
		int	b2,
		FCL_REAL &	sqrDistLowerBound
	)		const

inlinevirtual

BV test between b1 and b2.

Parameters

b1,b2 Bounding volumes to test,

Return values

sqrDistLowerBound square of a lower bound of the minimal distance between bounding volumes.

Implements fcl::CollisionTraversalNodeBase.

template<typename BV>

bool fcl::BVHCollisionTraversalNode< BV >::firstOverSecond	(	int	b1,
		int	b2
	)		const

inlinevirtual

Determine the traversal order, is the first BVTT subtree better.

Reimplemented from fcl::TraversalNodeBase.

template<typename BV>

int fcl::BVHCollisionTraversalNode< BV >::getFirstLeftChild ( int b ) const

inlinevirtual

Obtain the left child of BV node in the first BVH.

Reimplemented from fcl::TraversalNodeBase.

template<typename BV>

int fcl::BVHCollisionTraversalNode< BV >::getFirstRightChild ( int b ) const

inlinevirtual

Obtain the right child of BV node in the first BVH.

Reimplemented from fcl::TraversalNodeBase.

template<typename BV>

int fcl::BVHCollisionTraversalNode< BV >::getSecondLeftChild ( int b ) const

inlinevirtual

Obtain the left child of BV node in the second BVH.

Reimplemented from fcl::TraversalNodeBase.

template<typename BV>

int fcl::BVHCollisionTraversalNode< BV >::getSecondRightChild ( int b ) const

inlinevirtual

Obtain the right child of BV node in the second BVH.

Reimplemented from fcl::TraversalNodeBase.

template<typename BV>

bool fcl::BVHCollisionTraversalNode< BV >::isFirstNodeLeaf ( int b ) const

inlinevirtual

Whether the BV node in the first BVH tree is leaf.

Reimplemented from fcl::TraversalNodeBase.

template<typename BV>

bool fcl::BVHCollisionTraversalNode< BV >::isSecondNodeLeaf ( int b ) const

inlinevirtual

Whether the BV node in the second BVH tree is leaf.

Reimplemented from fcl::TraversalNodeBase.

Member Data Documentation

template<typename BV>

const BVHModel<BV>* fcl::BVHCollisionTraversalNode< BV >::model1

The first BVH model.

Referenced by fcl::BVHCollisionTraversalNode< OBBRSS >::BVHCollisionTraversalNode(), fcl::BVHCollisionTraversalNode< OBBRSS >::BVTesting(), fcl::BVHCollisionTraversalNode< OBBRSS >::firstOverSecond(), fcl::BVHCollisionTraversalNode< OBBRSS >::getFirstLeftChild(), fcl::BVHCollisionTraversalNode< OBBRSS >::getFirstRightChild(), fcl::initialize(), fcl::BVHCollisionTraversalNode< OBBRSS >::isFirstNodeLeaf(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), and fcl::MeshContinuousCollisionTraversalNode< BV >::leafTesting().

template<typename BV>

const BVHModel<BV>* fcl::BVHCollisionTraversalNode< BV >::model2

The second BVH model.

Referenced by fcl::BVHCollisionTraversalNode< OBBRSS >::BVHCollisionTraversalNode(), fcl::BVHCollisionTraversalNode< OBBRSS >::BVTesting(), fcl::BVHCollisionTraversalNode< OBBRSS >::firstOverSecond(), fcl::BVHCollisionTraversalNode< OBBRSS >::getSecondLeftChild(), fcl::BVHCollisionTraversalNode< OBBRSS >::getSecondRightChild(), fcl::initialize(), fcl::BVHCollisionTraversalNode< OBBRSS >::isSecondNodeLeaf(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), and fcl::MeshContinuousCollisionTraversalNode< BV >::leafTesting().

template<typename BV>

int fcl::BVHCollisionTraversalNode< BV >::num_bv_tests

mutable

statistical information

Referenced by fcl::BVHCollisionTraversalNode< OBBRSS >::BVHCollisionTraversalNode(), and fcl::BVHCollisionTraversalNode< OBBRSS >::BVTesting().

template<typename BV>

int fcl::BVHCollisionTraversalNode< BV >::num_leaf_tests

mutable

Referenced by fcl::BVHCollisionTraversalNode< OBBRSS >::BVHCollisionTraversalNode(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), and fcl::MeshContinuousCollisionTraversalNode< BV >::leafTesting().

template<typename BV>

FCL_REAL fcl::BVHCollisionTraversalNode< BV >::query_time_seconds

mutable

Referenced by fcl::BVHCollisionTraversalNode< OBBRSS >::BVHCollisionTraversalNode().