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

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

Inheritance diagram for hpp::fcl::MeshCollisionTraversalNode< BV, _Options >:

Collaboration diagram for hpp::fcl::MeshCollisionTraversalNode< BV, _Options >:

Public Types
enum	{ Options = _Options, RTIsIdentity = _Options & RelativeTransformationIsIdentity }

Public Member Functions
	MeshCollisionTraversalNode (const CollisionRequest &request)

bool	BVTesting (int b1, int b2) const
	BV culling test in one BVTT node. 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
	Intersection testing between leaves (two triangles) More...

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

Public Member Functions inherited from hpp::fcl::BVHCollisionTraversalNode< BV >
	BVHCollisionTraversalNode (const CollisionRequest &request)

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

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

bool	firstOverSecond (int b1, int b2) const
	Determine the traversal order, is the first BVTT subtree better. More...

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

int	getFirstRightChild (int b) const
	Obtain the right child of BV node in the first BVH. 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 hpp::fcl::CollisionTraversalNodeBase
	CollisionTraversalNodeBase (const CollisionRequest &request_)

virtual	~CollisionTraversalNodeBase ()

void	enableStatistics (bool enable)
	Whether store some statistics information during traversal. More...

Public Member Functions inherited from hpp::fcl::TraversalNodeBase
virtual	~TraversalNodeBase ()

virtual void	preprocess ()

virtual void	postprocess ()

Public Attributes
Vec3f *	vertices1

Vec3f *	vertices2

Triangle *	tri_indices1

Triangle *	tri_indices2

details::RelativeTransformation<!bool(RTIsIdentity)>	RT

Public Attributes inherited from hpp::fcl::BVHCollisionTraversalNode< BV >
const BVHModel< BV > *	model1
	The first BVH model. More...

const BVHModel< BV > *	model2
	The second BVH model. More...

int	num_bv_tests
	statistical information More...

int	num_leaf_tests

FCL_REAL	query_time_seconds

Public Attributes inherited from hpp::fcl::CollisionTraversalNodeBase
const CollisionRequest &	request
	request setting for collision More...

CollisionResult *	result
	collision result kept during the traversal iteration More...

bool	enable_statistics
	Whether stores statistics. More...

Public Attributes inherited from hpp::fcl::TraversalNodeBase
Transform3f	tf1
	configuation of first object More...

Transform3f	tf2
	configuration of second object More...

Detailed Description

template<typename BV, int _Options = RelativeTransformationIsIdentity>
class hpp::fcl::MeshCollisionTraversalNode< BV, _Options >

Traversal node for collision between two meshes.

Member Enumeration Documentation

template<typename BV, int _Options = RelativeTransformationIsIdentity>

anonymous enum

Enumerator
Options
RTIsIdentity

Constructor & Destructor Documentation

template<typename BV, int _Options = RelativeTransformationIsIdentity>

hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::MeshCollisionTraversalNode ( const CollisionRequest & request )

inline

Member Function Documentation

template<typename BV, int _Options = RelativeTransformationIsIdentity>

bool hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::BVTesting	(	int	b1,
		int	b2
	)		const

inlinevirtual

BV culling test in one BVTT node.

Implements hpp::fcl::CollisionTraversalNodeBase.

References hpp::fcl::CollisionTraversalNodeBase::enable_statistics, hpp::fcl::BVHCollisionTraversalNode< BV >::model1, hpp::fcl::BVHCollisionTraversalNode< BV >::model2, hpp::fcl::BVHCollisionTraversalNode< BV >::num_bv_tests, and hpp::fcl::overlap().

template<typename BV, int _Options = RelativeTransformationIsIdentity>

bool hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::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 hpp::fcl::CollisionTraversalNodeBase.

References hpp::fcl::CollisionTraversalNodeBase::enable_statistics, hpp::fcl::BVHCollisionTraversalNode< BV >::model1, hpp::fcl::BVHCollisionTraversalNode< BV >::model2, hpp::fcl::BVHCollisionTraversalNode< BV >::num_bv_tests, hpp::fcl::overlap(), and hpp::fcl::CollisionTraversalNodeBase::request.

template<typename BV, int _Options = RelativeTransformationIsIdentity>

bool hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::canStop ( ) const

inlinevirtual

Whether the traversal process can stop early.

Reimplemented from hpp::fcl::CollisionTraversalNodeBase.

References hpp::fcl::CollisionRequest::isSatisfied(), hpp::fcl::CollisionTraversalNodeBase::request, and hpp::fcl::CollisionTraversalNodeBase::result.

template<typename BV, int _Options = RelativeTransformationIsIdentity>

void hpp::fcl::MeshCollisionTraversalNode< BV, _Options >::leafTesting	(	int	b1,
		int	b2,
		FCL_REAL &	sqrDistLowerBound
	)		const

inlinevirtual

Intersection testing between leaves (two triangles)

Parameters

b1,b2 id of primitive in bounding volume hierarchy

Return values

sqrDistLowerBound squared lower bound of distance between primitives if they are not in collision.

This method supports a security margin. If the distance between the primitives is less than the security margin, the objects are considered as in collision. in this case a contact point is returned in the CollisionResult.