A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...
#include <hpp/fcl/BV/BV_node.h>
Public Member Functions | |
| bool | overlap (const BVNode &other) const |
| Check whether two BVNode collide. More... | |
| bool | overlap (const BVNode &other, FCL_REAL &sqrDistLowerBound) const |
| Check whether two BVNode collide. More... | |
| FCL_REAL | distance (const BVNode &other, Vec3f *P1=NULL, Vec3f *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... | |
| Vec3f | getCenter () const |
| Access the center of the BV. More... | |
| Matrix3f | getOrientation () const |
| Access the orientation of the BV. More... | |
| template<> | |
| Matrix3f | getOrientation () const |
| template<> | |
| Matrix3f | getOrientation () const |
| template<> | |
| Matrix3f | getOrientation () const |
 Public Member Functions inherited from fcl::BVNodeBase | |
| bool | isLeaf () const |
| Whether current node is a leaf node (i.e. contains a primitive index. More... | |
| int | primitiveId () const |
| Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel. More... | |
| int | leftChild () const |
| Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More... | |
| int | rightChild () const |
| Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More... | |
Public Attributes | |
| BV | bv |
| bounding volume storing the geometry More... | |
| Public Attributes inherited from fcl::BVNodeBase | |
| int | 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... | |
| int | first_primitive |
| The start id the primitive belonging to the current node. More... | |
| int | num_primitives |
| The number of primitives belonging to the current node. More... | |
A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.
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Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.
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Access the center of the BV.
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Access the orientation of the BV.
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Check whether two BVNode collide.
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Check whether two BVNode collide.
| BV fcl::BVNode< BV >::bv |
bounding volume storing the geometry
Referenced by fcl::BVHExpand(), fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::BVNode< OBBRSS >::distance(), and fcl::BVNode< OBBRSS >::overlap().
