Traversal node for collision between two meshes. More...
#include <hpp/fcl/traversal/traversal_node_bvhs.h>
Public Member Functions | |
| MeshCollisionTraversalNode (bool enable_distance_lower_bound) | |
| void | leafTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const |
| Intersection testing between leaves (two triangles) More... | |
| bool | canStop () const |
| Whether the traversal process can stop early. More... | |
 Public Member Functions inherited from fcl::BVHCollisionTraversalNode< BV > | |
| 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 () |
| 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 | |
| Vec3f * | vertices1 |
| Vec3f * | vertices2 |
| Triangle * | tri_indices1 |
| Triangle * | tri_indices2 |
| FCL_REAL | cost_density |
| Public Attributes inherited from fcl::BVHCollisionTraversalNode< BV > | |
| 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... | |
Traversal node for collision between two meshes.
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inline |
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inlinevirtual |
Whether the traversal process can stop early.
Reimplemented from fcl::CollisionTraversalNodeBase.
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inlinevirtual |
Intersection testing between leaves (two triangles)
Reimplemented from fcl::CollisionTraversalNodeBase.
| FCL_REAL fcl::MeshCollisionTraversalNode< BV >::cost_density |
Referenced by fcl::initialize(), and fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting().
| Triangle* fcl::MeshCollisionTraversalNode< BV >::tri_indices1 |
| Triangle* fcl::MeshCollisionTraversalNode< BV >::tri_indices2 |
| Vec3f* fcl::MeshCollisionTraversalNode< BV >::vertices1 |
| Vec3f* fcl::MeshCollisionTraversalNode< BV >::vertices2 |
