fcl::BVNodeBase Struct Reference

BVNodeBase encodes the tree structure for BVH. More...

#include <hpp/fcl/BV/BV_node.h>

Inheritance diagram for fcl::BVNodeBase:

Public Member Functions
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
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...

Detailed Description

BVNodeBase encodes the tree structure for BVH.

Member Function Documentation

bool fcl::BVNodeBase::isLeaf ( ) const

inline

Whether current node is a leaf node (i.e. contains a primitive index.

int fcl::BVNodeBase::leftChild ( ) const

inline

Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

References first_child.

int fcl::BVNodeBase::primitiveId ( ) const

inline

Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel.

Referenced by fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::MeshContinuousCollisionTraversalNode< BV >::leafTesting(), fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), fcl::MeshDistanceTraversalNode< OBBRSS >::leafTesting(), fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeDistanceTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshDistanceTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::leafTesting(), and fcl::details::meshShapeConservativeAdvancementOrientedNodeLeafTesting().

int fcl::BVNodeBase::rightChild ( ) const

inline

Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

Member Data Documentation

int fcl::BVNodeBase::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.

Referenced by leftChild().

int fcl::BVNodeBase::first_primitive

The start id the primitive belonging to the current node.

The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly.

Referenced by fcl::BVHExpand().

int fcl::BVNodeBase::num_primitives

The number of primitives belonging to the current node.

Referenced by fcl::BVHExpand().