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

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

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

Public Member Functions
	ShapeMeshCollisionTraversalNodeOBBRSS ()

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

bool	BVTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) 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::ShapeMeshCollisionTraversalNode< S, OBBRSS, NarrowPhaseSolver >
	ShapeMeshCollisionTraversalNode ()

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

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

Public Member Functions inherited from fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >
	ShapeBVHCollisionTraversalNode ()

bool	firstOverSecond (int, int) const
	Alway extend the second model, which is a BVH model. More...

bool	isSecondNodeLeaf (int b) const
	Whether the BV node in the second BVH tree is leaf. More...

int	getSecondLeftChild (int b) const
	Obtain the left child of BV node in the second BVH. More...

int	getSecondRightChild (int b) const
	Obtain the right child of BV node in the second BVH. More...

bool	BVTesting (int b1, int b2) const
	BV test between b1 and b2. 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	isFirstNodeLeaf (int b) const
	Whether b is a leaf node in the first BVH tree. 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...

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

Triangle *	tri_indices

FCL_REAL	cost_density

const NarrowPhaseSolver *	nsolver

Public Attributes inherited from fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >
const S *	model1

const BVHModel< OBBRSS > *	model2

OBBRSS	model1_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...

Constructor & Destructor Documentation

template<typename S, typename NarrowPhaseSolver>

fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::ShapeMeshCollisionTraversalNodeOBBRSS ( )

inline

Member Function Documentation

template<typename S, typename NarrowPhaseSolver>

bool fcl::ShapeMeshCollisionTraversalNodeOBBRSS< 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::ShapeBVHCollisionTraversalNode< S, OBBRSS >::model1_bv, fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >::model2, fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >::num_bv_tests, fcl::overlap(), and fcl::TraversalNodeBase::tf2.

template<typename S, typename NarrowPhaseSolver>

bool fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting	(	int	b1,
		int	b2,
		FCL_REAL &	sqrDistLowerBound
	)		const

inlinevirtual

BV test between b1 and b2.

Parameters

b1,b2 Bounding volumes to test,

Return values

sqrDistLowerBound square of a lower bound of the minimal distance between bounding volumes.

Implements fcl::CollisionTraversalNodeBase.

References fcl::BVNode< BV >::bv, fcl::CollisionTraversalNodeBase::enable_statistics, fcl::BVHModel< BV >::getBV(), fcl::Transform3f::getRotation(), fcl::Transform3f::getTranslation(), fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >::model1_bv, fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >::model2, fcl::ShapeBVHCollisionTraversalNode< S, OBBRSS >::num_bv_tests, fcl::overlap(), and fcl::TraversalNodeBase::tf2.

template<typename S, typename NarrowPhaseSolver>

void fcl::ShapeMeshCollisionTraversalNodeOBBRSS< 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

Constructor & Destructor Documentation

Member Function Documentation