hpp::fcl::BVNode< BV > Struct Template Reference

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...

#include <hpp/fcl/BV/BV_node.h>

Inheritance diagram for hpp::fcl::BVNode< BV >:

Collaboration diagram for hpp::fcl::BVNode< BV >:

Public Member Functions
bool	overlap (const BVNode &other) const
	Check whether two BVNode collide. More...
bool	overlap (const BVNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
	Check whether two BVNode collide. More...
FCL_REAL	distance (const BVNode &other, Vec3f *P1=NULL, Vec3f *P2=NULL) const
	Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points. More...
Vec3f	getCenter () const
	Access the center of the BV. More...
const Matrix3f &	getOrientation () const
	Access the orientation of the BV. More...
template<>
const Matrix3f &	getOrientation () const
template<>
const Matrix3f &	getOrientation () const
template<>
const Matrix3f &	getOrientation () const
Public Member Functions inherited from hpp::fcl::BVNodeBase
bool	isLeaf () const
	Whether current node is a leaf node (i.e. contains a primitive index. More...
int	primitiveId () const
	Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel. More...
int	leftChild () const
	Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...
int	rightChild () const
	Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...

Public Attributes
BV	bv
	bounding volume storing the geometry More...
Public Attributes inherited from hpp::fcl::BVNodeBase
int	first_child
	An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used. More...
int	first_primitive
	The start id the primitive belonging to the current node. More...
int	num_primitives
	The number of primitives belonging to the current node. More...

Detailed Description

template<typename BV>
struct hpp::fcl::BVNode< BV >

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.

Member Function Documentation

template<typename BV>

FCL_REAL hpp::fcl::BVNode< BV >::distance ( const BVNode< BV > &  other, Vec3f *  P1 = NULL, Vec3f *  P2 = NULL  ) const

inline

Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.

Referenced by hpp::fcl::details::DistanceTraversalBVTesting_impl< BV >::run().

template<typename BV>

Vec3f hpp::fcl::BVNode< BV >::getCenter ( ) const

inline

Access the center of the BV.

template<typename BV>

const Matrix3f& hpp::fcl::BVNode< BV >::getOrientation ( ) const

inline

Access the orientation of the BV.

template<>

const Matrix3f & hpp::fcl::BVNode< OBB >::getOrientation ( ) const

inline

template<>

const Matrix3f & hpp::fcl::BVNode< RSS >::getOrientation ( ) const

inline

template<>

const Matrix3f & hpp::fcl::BVNode< OBBRSS >::getOrientation ( ) const

inline

template<typename BV>

bool hpp::fcl::BVNode< BV >::overlap ( const BVNode< BV > &  other ) const

inline

Check whether two BVNode collide.

Referenced by hpp::fcl::details::DistanceTraversalBVTesting_impl< OBB >::run().

template<typename BV>

bool hpp::fcl::BVNode< BV >::overlap ( const BVNode< BV > &  other, const CollisionRequest &  request, FCL_REAL &  sqrDistLowerBound  ) const

inline

Check whether two BVNode collide.

Member Data Documentation

template<typename BV>

BV hpp::fcl::BVNode< BV >::bv

bounding volume storing the geometry

Referenced by hpp::fcl::BVHExpand(), hpp::fcl::BVNode< OBBRSS >::distance(), and hpp::fcl::BVNode< OBBRSS >::overlap().