fcl::BVHShapeDistanceTraversalNode< BV, S > Class Template Reference

Traversal node for distance computation between BVH and shape. More...

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

Inheritance diagram for fcl::BVHShapeDistanceTraversalNode< BV, S >:

Collaboration diagram for fcl::BVHShapeDistanceTraversalNode< BV, S >:

Public Member Functions
	BVHShapeDistanceTraversalNode ()
bool	isFirstNodeLeaf (int b) const
	Whether the BV node in the first BVH tree is leaf. 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...
FCL_REAL	BVTesting (int b1, int b2) const
	BV culling test in one BVTT node. More...
Public Member Functions inherited from fcl::DistanceTraversalNodeBase
	DistanceTraversalNodeBase ()
virtual	~DistanceTraversalNodeBase ()
virtual void	leafTesting (int b1, int b2) const =0
	Leaf test between node b1 and b2, if they are both leafs. More...
virtual bool	canStop (FCL_REAL c) 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 ()
virtual bool	isSecondNodeLeaf (int b) const
	Whether b is a leaf node in the second BVH tree. More...
virtual bool	firstOverSecond (int b1, int b2) const
	Traverse the subtree of the node in the first tree first. More...
virtual int	getSecondLeftChild (int b) const
	Get the left child of the node b in the second tree. More...
virtual int	getSecondRightChild (int b) const
	Get the right child of the node b in the second tree. More...

Public Attributes
const BVHModel< BV > *	model1
const S *	model2
BV	model2_bv
int	num_bv_tests
int	num_leaf_tests
FCL_REAL	query_time_seconds
Public Attributes inherited from fcl::DistanceTraversalNodeBase
DistanceRequest	request
	request setting for distance More...
DistanceResult *	result
	distance result kept during the traversal iteration More...
bool	enable_statistics
	Whether stores statistics. 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, typename S>
class fcl::BVHShapeDistanceTraversalNode< BV, S >

Traversal node for distance computation between BVH and shape.

Constructor & Destructor Documentation

template<typename BV, typename S>

fcl::BVHShapeDistanceTraversalNode< BV, S >::BVHShapeDistanceTraversalNode ( )

inline

Member Function Documentation

template<typename BV, typename S>

FCL_REAL fcl::BVHShapeDistanceTraversalNode< BV, S >::BVTesting ( int  b1, int  b2  ) const

inlinevirtual

BV culling test in one BVTT node.

Reimplemented from fcl::DistanceTraversalNodeBase.

Reimplemented in fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >, fcl::MeshShapeConservativeAdvancementTraversalNode< RSS, S, NarrowPhaseSolver >, and fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >.

template<typename BV, typename S>

int fcl::BVHShapeDistanceTraversalNode< BV, S >::getFirstLeftChild ( int  b ) const

inlinevirtual

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

Reimplemented from fcl::TraversalNodeBase.

template<typename BV, typename S>

int fcl::BVHShapeDistanceTraversalNode< BV, S >::getFirstRightChild ( int  b ) const

inlinevirtual

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

Reimplemented from fcl::TraversalNodeBase.

template<typename BV, typename S>

bool fcl::BVHShapeDistanceTraversalNode< BV, S >::isFirstNodeLeaf ( int  b ) const

inlinevirtual

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

Reimplemented from fcl::TraversalNodeBase.

Member Data Documentation

template<typename BV, typename S>

const BVHModel<BV>* fcl::BVHShapeDistanceTraversalNode< BV, S >::model1

Referenced by fcl::BVHShapeDistanceTraversalNode< RSS, S >::BVHShapeDistanceTraversalNode(), fcl::BVHShapeDistanceTraversalNode< RSS, S >::BVTesting(), fcl::BVHShapeDistanceTraversalNode< RSS, S >::getFirstLeftChild(), fcl::BVHShapeDistanceTraversalNode< RSS, S >::getFirstRightChild(), fcl::initialize(), fcl::BVHShapeDistanceTraversalNode< RSS, S >::isFirstNodeLeaf(), and fcl::MeshShapeDistanceTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting().

template<typename BV, typename S>

const S* fcl::BVHShapeDistanceTraversalNode< BV, S >::model2

Referenced by fcl::BVHShapeDistanceTraversalNode< RSS, S >::BVHShapeDistanceTraversalNode(), fcl::initialize(), and fcl::MeshShapeDistanceTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting().

template<typename BV, typename S>

BV fcl::BVHShapeDistanceTraversalNode< BV, S >::model2_bv

Referenced by fcl::BVHShapeDistanceTraversalNode< RSS, S >::BVTesting(), fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::canStop(), fcl::initialize(), and fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting().

template<typename BV, typename S>

int fcl::BVHShapeDistanceTraversalNode< BV, S >::num_bv_tests

mutable

Referenced by fcl::BVHShapeDistanceTraversalNode< RSS, S >::BVHShapeDistanceTraversalNode(), and fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::BVTesting().

template<typename BV, typename S>

int fcl::BVHShapeDistanceTraversalNode< BV, S >::num_leaf_tests

mutable

Referenced by fcl::BVHShapeDistanceTraversalNode< RSS, S >::BVHShapeDistanceTraversalNode(), and fcl::MeshShapeDistanceTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting().

template<typename BV, typename S>

FCL_REAL fcl::BVHShapeDistanceTraversalNode< BV, S >::query_time_seconds

mutable

Referenced by fcl::BVHShapeDistanceTraversalNode< RSS, S >::BVHShapeDistanceTraversalNode().