Traversal node for octree-mesh collision. More...
#include <hpp/fcl/traversal/traversal_node_octree.h>
Public Member Functions | |
| OcTreeMeshCollisionTraversalNode () | |
| bool | BVTesting (int, int) const |
| BV test between b1 and b2. More... | |
| void | leafTesting (int, int, FCL_REAL &) const |
| Leaf test between node b1 and b2, if they are both leafs. More... | |
 Public Member Functions inherited from fcl::CollisionTraversalNodeBase | |
| CollisionTraversalNodeBase (bool enable_distance_lower_bound_=false) | |
| virtual | ~CollisionTraversalNodeBase () |
| virtual bool | BVTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const =0 |
| BV test between b1 and b2. More... | |
| virtual bool | canStop () const |
| Check whether the traversal can stop. More... | |
| 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 | isFirstNodeLeaf (int b) const |
| Whether b is a leaf node in the first BVH tree. More... | |
| 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 | getFirstLeftChild (int b) const |
| Get the left child of the node b in the first tree. More... | |
| virtual int | getFirstRightChild (int b) const |
| Get the right child of the node b in the first tree. 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 | |
| const OcTree * | model1 |
| const BVHModel< BV > * | model2 |
| Transform3f | tf1 |
| Transform3f | tf2 |
| const OcTreeSolver < NarrowPhaseSolver > * | otsolver |
| 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 octree-mesh collision.
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inline |
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inlinevirtual |
BV test between b1 and b2.
Implements fcl::CollisionTraversalNodeBase.
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inlinevirtual |
Leaf test between node b1 and b2, if they are both leafs.
Reimplemented from fcl::CollisionTraversalNodeBase.
References fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >::model1, fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >::model2, fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >::otsolver, fcl::CollisionTraversalNodeBase::request, and fcl::CollisionTraversalNodeBase::result.
| const OcTree* fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >::model1 |
| const BVHModel<BV>* fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >::model2 |
| const OcTreeSolver<NarrowPhaseSolver>* fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >::otsolver |
| Transform3f fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >::tf1 |
| Transform3f fcl::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >::tf2 |
