fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver > Class Template Reference

Traversal node for collision between two shapes. More...

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

Inheritance diagram for fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >:

Collaboration diagram for fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >:

Public Member Functions
	ShapeCollisionTraversalNode ()
bool	BVTesting (int, int) const
	BV culling test in one BVTT node. More...
bool	BVTesting (int, int, FCL_REAL &) const
	BV culling test in one BVTT node. More...
void	leafTesting (int, int, FCL_REAL &) const
	Intersection testing between leaves (two shapes) More...
Public Member Functions inherited from fcl::CollisionTraversalNodeBase
	CollisionTraversalNodeBase (bool enable_distance_lower_bound_=false)
virtual	~CollisionTraversalNodeBase ()
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 S1 *	model1
const S2 *	model2
FCL_REAL	cost_density
const NarrowPhaseSolver *	nsolver
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 S1, typename S2, typename NarrowPhaseSolver>
class fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >

Traversal node for collision between two shapes.

Constructor & Destructor Documentation

template<typename S1, typename S2, typename NarrowPhaseSolver>

fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::ShapeCollisionTraversalNode ( )

inline

References fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model1, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model2, and fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver.

Member Function Documentation

template<typename S1, typename S2, typename NarrowPhaseSolver>

bool fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::BVTesting ( int  , int    ) const

inlinevirtual

BV culling test in one BVTT node.

Implements fcl::CollisionTraversalNodeBase.

template<typename S1, typename S2, typename NarrowPhaseSolver>

bool fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::BVTesting ( int  , int  , FCL_REAL &    ) const

inlinevirtual

BV culling test in one BVTT node.

Implements fcl::CollisionTraversalNodeBase.

template<typename S1, typename S2, typename NarrowPhaseSolver>

void fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting ( int  , int  , FCL_REAL &    ) const

inlinevirtual

Intersection testing between leaves (two shapes)

Reimplemented from fcl::CollisionTraversalNodeBase.

References fcl::CollisionResult::addContact(), fcl::CollisionResult::addCostSource(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::cost_density, fcl::CollisionRequest::enable_contact, fcl::CollisionRequest::enable_cost, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model1, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model2, fcl::Contact::NONE, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, fcl::CollisionRequest::num_max_contacts, fcl::CollisionRequest::num_max_cost_sources, fcl::CollisionResult::numContacts(), fcl::AABB::overlap(), fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::TraversalNodeBase::tf1, and fcl::TraversalNodeBase::tf2.

Member Data Documentation

template<typename S1, typename S2, typename NarrowPhaseSolver>

FCL_REAL fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::cost_density

Referenced by fcl::initialize(), and fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting().

template<typename S1, typename S2, typename NarrowPhaseSolver>

const S1* fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model1

Referenced by fcl::initialize(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::ShapeCollisionTraversalNode().

template<typename S1, typename S2, typename NarrowPhaseSolver>

const S2* fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model2

Referenced by fcl::initialize(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::ShapeCollisionTraversalNode().

template<typename S1, typename S2, typename NarrowPhaseSolver>

const NarrowPhaseSolver* fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver

Referenced by fcl::initialize(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::ShapeCollisionTraversalNode().