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

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

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

Public Member Functions
	ShapeMeshConservativeAdvancementTraversalNodeRSS (FCL_REAL w_=1)

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

void	leafTesting (int b1, int b2) const
	Leaf test between node b1 and b2, if they are both leafs. More...

bool	canStop (FCL_REAL c) const
	Check whether the traversal can stop. More...

Public Member Functions inherited from fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >
	ShapeMeshConservativeAdvancementTraversalNode (FCL_REAL w_=1)

FCL_REAL	BVTesting (int b1, int b2) const
	BV culling test in one BVTT node. More...

void	leafTesting (int b1, int b2) const
	Conservative advancement 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::ShapeMeshDistanceTraversalNode< S, RSS, NarrowPhaseSolver >
	ShapeMeshDistanceTraversalNode ()

Public Member Functions inherited from fcl::ShapeBVHDistanceTraversalNode< S, RSS >
	ShapeBVHDistanceTraversalNode ()

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...

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	isFirstNodeLeaf (int b) const
	Whether b is a leaf node in the first 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...

Additional Inherited Members
Public Attributes inherited from fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >
FCL_REAL	min_distance

Vec3f	closest_p1

Vec3f	closest_p2

int	last_tri_id

FCL_REAL	w
	CA controlling variable: early stop for the early iterations of CA. More...

FCL_REAL	toc
	The time from beginning point. More...

FCL_REAL	t_err

FCL_REAL	delta_t
	The delta_t each step. More...

const MotionBase *	motion1
	Motions for the two objects in query. More...

const MotionBase *	motion2

std::vector < ConservativeAdvancementStackData >	stack

Public Attributes inherited from fcl::ShapeMeshDistanceTraversalNode< S, RSS, NarrowPhaseSolver >
Vec3f *	vertices

Triangle *	tri_indices

FCL_REAL	rel_err

FCL_REAL	abs_err

const NarrowPhaseSolver *	nsolver

Public Attributes inherited from fcl::ShapeBVHDistanceTraversalNode< S, RSS >
const S *	model1

const BVHModel< RSS > *	model2

RSS	model1_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...

Constructor & Destructor Documentation

template<typename S, typename NarrowPhaseSolver>

fcl::ShapeMeshConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver >::ShapeMeshConservativeAdvancementTraversalNodeRSS ( FCL_REAL w_ = 1 )

inline

Member Function Documentation

template<typename S, typename NarrowPhaseSolver>

FCL_REAL fcl::ShapeMeshConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting	(	int	b1,
		int	b2
	)		const

inlinevirtual

BV test between b1 and b2.

Reimplemented from fcl::DistanceTraversalNodeBase.

References fcl::distance(), fcl::ShapeBVHDistanceTraversalNode< S, RSS >::model1_bv, fcl::ShapeBVHDistanceTraversalNode< S, RSS >::num_bv_tests, and fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >::stack.

template<typename S, typename NarrowPhaseSolver>

bool fcl::ShapeMeshConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver >::canStop ( FCL_REAL c ) const

inlinevirtual

Check whether the traversal can stop.

Reimplemented from fcl::DistanceTraversalNodeBase.

template<typename S, typename NarrowPhaseSolver>

void fcl::ShapeMeshConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver >::leafTesting	(	int	b1,
		int	b2
	)		const

inlinevirtual

Leaf test between node b1 and b2, if they are both leafs.

Implements fcl::DistanceTraversalNodeBase.

References fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >::delta_t, fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >::last_tri_id, fcl::details::meshShapeConservativeAdvancementOrientedNodeLeafTesting(), fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >::min_distance, fcl::ShapeBVHDistanceTraversalNode< S, RSS >::model1_bv, fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >::motion1, and fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >::motion2.

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation