Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS) More...

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

Inheritance diagram for fcl::MeshCollisionTraversalNodeOBB:

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Collaboration diagram for fcl::MeshCollisionTraversalNodeOBB:

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Public Member Functions
	MeshCollisionTraversalNodeOBB (bool enable_distance_lower_bound)

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

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

bool	BVTesting (int b1, int b2, const Matrix3f &Rc, const Vec3f &Tc) const

void	leafTesting (int b1, int b2, const Matrix3f &Rc, const Vec3f &Tc, FCL_REAL &sqrDistLowerBound) const

Public Member Functions inherited from fcl::MeshCollisionTraversalNode< OBB >
	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< OBB >
	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
Matrix3f	R

Vec3f	T

Public Attributes inherited from fcl::MeshCollisionTraversalNode< OBB >
Vec3f *	vertices1

Vec3f *	vertices2

Triangle *	tri_indices1

Triangle *	tri_indices2

FCL_REAL	cost_density

Public Attributes inherited from fcl::BVHCollisionTraversalNode< OBB >
const BVHModel< OBB > *	model1
	The first BVH model. More...

const BVHModel< OBB > *	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

Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS)

Constructor & Destructor Documentation

fcl::MeshCollisionTraversalNodeOBB::MeshCollisionTraversalNodeOBB ( bool enable_distance_lower_bound )

Member Function Documentation

bool fcl::MeshCollisionTraversalNodeOBB::BVTesting	(	int	b1,
		int	b2
	)		const

virtual

BV test between b1 and b2.

Implements fcl::CollisionTraversalNodeBase.

bool fcl::MeshCollisionTraversalNodeOBB::BVTesting	(	int	b1,
		int	b2,
		const Matrix3f &	Rc,
		const Vec3f &	Tc
	)		const

void fcl::MeshCollisionTraversalNodeOBB::leafTesting	(	int	b1,
		int	b2,
		FCL_REAL &	sqrDistLowerBound
	)		const

virtual

Leaf test between node b1 and b2, if they are both leafs.

Reimplemented from fcl::CollisionTraversalNodeBase.

void fcl::MeshCollisionTraversalNodeOBB::leafTesting	(	int	b1,
		int	b2,
		const Matrix3f &	Rc,
		const Vec3f &	Tc,
		FCL_REAL &	sqrDistLowerBound
	)		const

Member Data Documentation

Matrix3f fcl::MeshCollisionTraversalNodeOBB::R

Vec3f fcl::MeshCollisionTraversalNodeOBB::T

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation