Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...

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

Inheritance diagram for fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >:

Collaboration diagram for fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >:

Public Member Functions
	MeshShapeCollisionTraversalNodeOBB (bool enable_distance_lower_bound=false)

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

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

Public Member Functions inherited from fcl::MeshShapeCollisionTraversalNode< OBB, S, NarrowPhaseSolver >
	MeshShapeCollisionTraversalNode (bool enable_distance_lower_bound=false)

void	leafTesting (int b1, int b2) const
	Intersection testing between leaves (one triangle and one shape) More...

bool	canStop () const
	Whether the traversal process can stop early. More...

Public Member Functions inherited from fcl::BVHShapeCollisionTraversalNode< OBB, S >
	BVHShapeCollisionTraversalNode (bool enable_distance_lower_bound)

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...

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 ()

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...

Additional Inherited Members
Public Attributes inherited from fcl::MeshShapeCollisionTraversalNode< OBB, S, NarrowPhaseSolver >
Vec3f *	vertices

Triangle *	tri_indices

FCL_REAL	cost_density

const NarrowPhaseSolver *	nsolver

Public Attributes inherited from fcl::BVHShapeCollisionTraversalNode< OBB, S >
const BVHModel< OBB > *	model1

const S *	model2

OBB	model2_bv

int	num_bv_tests

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

template<typename S, typename NarrowPhaseSolver>
class fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >

Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)

Constructor & Destructor Documentation

template<typename S, typename NarrowPhaseSolver>

fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::MeshShapeCollisionTraversalNodeOBB ( bool enable_distance_lower_bound = false )

inline

Member Function Documentation

template<typename S, typename NarrowPhaseSolver>

bool fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting	(	int	b1,
		int	b2
	)		const

inlinevirtual

BV test between b1 and b2.

Implements fcl::CollisionTraversalNodeBase.

References fcl::BVNode< BV >::bv, fcl::CollisionTraversalNodeBase::enable_statistics, fcl::BVHModel< BV >::getBV(), fcl::Transform3f::getRotation(), fcl::Transform3f::getTranslation(), fcl::BVHShapeCollisionTraversalNode< OBB, S >::model1, fcl::BVHShapeCollisionTraversalNode< OBB, S >::model2_bv, fcl::BVHShapeCollisionTraversalNode< OBB, S >::num_bv_tests, fcl::overlap(), and fcl::TraversalNodeBase::tf1.

template<typename S, typename NarrowPhaseSolver>

void fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting	(	int	b1,
		int	b2,
		FCL_REAL &	sqrDistLowerBound
	)		const

inlinevirtual

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

Reimplemented from fcl::CollisionTraversalNodeBase.

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename S, typename NarrowPhaseSolver> class fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >

Constructor & Destructor Documentation

Member Function Documentation

template<typename S, typename NarrowPhaseSolver>
class fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >