fcl::NodeBase< BV > Struct Template Reference

dynamic AABB tree node More...

#include <hpp/fcl/broadphase/hierarchy_tree.h>

Collaboration diagram for fcl::NodeBase< BV >:

Public Member Functions
bool	isLeaf () const
	whether is a leaf More...
bool	isInternal () const
	whether is internal node More...
	NodeBase ()

Public Attributes
BV	bv
	the bounding volume for the node More...
NodeBase< BV > *	parent
	pointer to parent node More...
union {
NodeBase< BV > *   children [2]
	for leaf node, children nodes More...
void *   data
};
FCL_UINT32	code
	morton code for current BV More...

Detailed Description

template<typename BV>
struct fcl::NodeBase< BV >

dynamic AABB tree node

Constructor & Destructor Documentation

template<typename BV>

fcl::NodeBase< BV >::NodeBase ( )

inline

References fcl::NodeBase< BV >::children.

Member Function Documentation

template<typename BV>

bool fcl::NodeBase< BV >::isInternal ( ) const

inline

whether is internal node

References fcl::NodeBase< BV >::isLeaf().

template<typename BV>

bool fcl::NodeBase< BV >::isLeaf ( ) const

inline

whether is a leaf

References fcl::NodeBase< BV >::children.

Referenced by fcl::HierarchyTree< BV >::balanceIncremental(), fcl::HierarchyTree< BV >::extractLeaves(), fcl::NodeBase< BV >::isInternal(), and fcl::HierarchyTree< BV >::print().

Member Data Documentation

union { ... }

template<typename BV>

BV fcl::NodeBase< BV >::bv

the bounding volume for the node

Referenced by fcl::nodeBaseLess(), fcl::HierarchyTree< BV >::print(), and fcl::HierarchyTree< BV >::update().

template<typename BV>

NodeBase<BV>* fcl::NodeBase< BV >::children[2]

for leaf node, children nodes

Referenced by fcl::HierarchyTree< BV >::balanceIncremental(), fcl::HierarchyTree< BV >::extractLeaves(), fcl::NodeBase< BV >::isLeaf(), fcl::NodeBase< BV >::NodeBase(), and fcl::HierarchyTree< BV >::print().

template<typename BV>

FCL_UINT32 fcl::NodeBase< BV >::code

morton code for current BV

template<typename BV>

void* fcl::NodeBase< BV >::data

template<typename BV>

NodeBase<BV>* fcl::NodeBase< BV >::parent

pointer to parent node

Referenced by fcl::HierarchyTree< BV >::update().