fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver > Class Template Reference

Traversal node for distance between shape and mesh. More...

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

Inheritance diagram for fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >:

Collaboration diagram for fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >:

Public Member Functions
	ShapeMeshDistanceTraversalNode ()
void	leafTesting (int b1, int b2) const
	Distance testing between leaves (one shape and one triangle) More...
bool	canStop (FCL_REAL c) const
	Whether the traversal process can stop early. More...
Public Member Functions inherited from fcl::ShapeBVHDistanceTraversalNode< S, BV >
	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...
FCL_REAL	BVTesting (int b1, int b2) const
	BV culling test in one BVTT node. 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...

Public Attributes
Vec3f *	vertices
Triangle *	tri_indices
FCL_REAL	rel_err
FCL_REAL	abs_err
const NarrowPhaseSolver *	nsolver
Public Attributes inherited from fcl::ShapeBVHDistanceTraversalNode< S, BV >
const S *	model1
const BVHModel< BV > *	model2
BV	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...

Detailed Description

template<typename S, typename BV, typename NarrowPhaseSolver>
class fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >

Traversal node for distance between shape and mesh.

Constructor & Destructor Documentation

template<typename S, typename BV, typename NarrowPhaseSolver>

fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::ShapeMeshDistanceTraversalNode ( )

inline

Member Function Documentation

template<typename S, typename BV, typename NarrowPhaseSolver>

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

inlinevirtual

Whether the traversal process can stop early.

Reimplemented from fcl::DistanceTraversalNodeBase.

Reimplemented in fcl::ShapeMeshConservativeAdvancementTraversalNode< S, BV, NarrowPhaseSolver >, fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >, and fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >.

template<typename S, typename BV, typename NarrowPhaseSolver>

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

inlinevirtual

Distance testing between leaves (one shape and one triangle)

Implements fcl::DistanceTraversalNodeBase.

Reimplemented in fcl::ShapeMeshConservativeAdvancementTraversalNode< S, BV, NarrowPhaseSolver >, fcl::ShapeMeshConservativeAdvancementTraversalNode< S, RSS, NarrowPhaseSolver >, and fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >.

Member Data Documentation

template<typename S, typename BV, typename NarrowPhaseSolver>

FCL_REAL fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::abs_err

Referenced by fcl::ShapeMeshDistanceTraversalNode< S, kIOS, NarrowPhaseSolver >::canStop(), fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::canStop(), and fcl::ShapeMeshDistanceTraversalNode< S, kIOS, NarrowPhaseSolver >::ShapeMeshDistanceTraversalNode().

template<typename S, typename BV, typename NarrowPhaseSolver>

const NarrowPhaseSolver* fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::nsolver

Referenced by fcl::initialize().

template<typename S, typename BV, typename NarrowPhaseSolver>

FCL_REAL fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::rel_err

Referenced by fcl::ShapeMeshDistanceTraversalNode< S, kIOS, NarrowPhaseSolver >::canStop(), fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::canStop(), and fcl::ShapeMeshDistanceTraversalNode< S, kIOS, NarrowPhaseSolver >::ShapeMeshDistanceTraversalNode().

template<typename S, typename BV, typename NarrowPhaseSolver>

Triangle* fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::tri_indices

Referenced by fcl::initialize().

template<typename S, typename BV, typename NarrowPhaseSolver>

Vec3f* fcl::ShapeMeshDistanceTraversalNode< S, BV, NarrowPhaseSolver >::vertices

Referenced by fcl::initialize().