Traversal node for distance between mesh and shape. More...
#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
Public Member Functions | |
| MeshShapeDistanceTraversalNode () | |
| void | leafTesting (int b1, int b2) const |
| Distance testing between leaves (one triangle and one shape) More... | |
| bool | canStop (FCL_REAL c) const |
| Whether the traversal process can stop early. More... | |
 Public Member Functions inherited from fcl::BVHShapeDistanceTraversalNode< BV, S > | |
| BVHShapeDistanceTraversalNode () | |
| 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... | |
| FCL_REAL | BVTesting (int b1, int b2) const |
| BV culling test in one BVTT node. More... | |
| Public Member Functions inherited from fcl::DistanceTraversalNodeBase | |
| DistanceTraversalNodeBase () | |
| virtual | ~DistanceTraversalNodeBase () |
| 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... | |
Public Attributes | |
| Vec3f * | vertices |
| Triangle * | tri_indices |
| FCL_REAL | rel_err |
| FCL_REAL | abs_err |
| const NarrowPhaseSolver * | nsolver |
| Public Attributes inherited from fcl::BVHShapeDistanceTraversalNode< BV, S > | |
| const BVHModel< BV > * | model1 |
| const S * | model2 |
| BV | model2_bv |
| int | num_bv_tests |
| int | num_leaf_tests |
| FCL_REAL | query_time_seconds |
| Public Attributes inherited from fcl::DistanceTraversalNodeBase | |
| DistanceRequest | request |
| request setting for distance More... | |
| DistanceResult * | result |
| distance result kept during the traversal iteration More... | |
| bool | enable_statistics |
| Whether stores statistics. More... | |
| Public Attributes inherited from fcl::TraversalNodeBase | |
| Transform3f | tf1 |
| configuation of first object More... | |
| Transform3f | tf2 |
| configuration of second object More... | |
Traversal node for distance between mesh and shape.
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inline |
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inlinevirtual |
Whether the traversal process can stop early.
Reimplemented from fcl::DistanceTraversalNodeBase.
Reimplemented in fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >, fcl::MeshShapeConservativeAdvancementTraversalNode< RSS, S, NarrowPhaseSolver >, and fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >.
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inlinevirtual |
Distance testing between leaves (one triangle and one shape)
Implements fcl::DistanceTraversalNodeBase.
Reimplemented in fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >, fcl::MeshShapeConservativeAdvancementTraversalNode< RSS, S, NarrowPhaseSolver >, and fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >.
| FCL_REAL fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::abs_err |
| const NarrowPhaseSolver* fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::nsolver |
| FCL_REAL fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::rel_err |
| Triangle* fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::tri_indices |
| Vec3f* fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >::vertices |
