Traversal node for distance computation between two meshes. More...

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

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

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

Public Member Functions
	MeshDistanceTraversalNode ()

void	leafTesting (int b1, int b2) const
	Distance testing between leaves (two triangles) More...

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

Public Member Functions inherited from hpp::fcl::BVHDistanceTraversalNode< BV >
	BVHDistanceTraversalNode ()

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...

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

Public Member Functions inherited from hpp::fcl::DistanceTraversalNodeBase
	DistanceTraversalNodeBase ()

virtual	~DistanceTraversalNodeBase ()

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

FCL_REAL	rel_err
	relative and absolute error, default value is 0.01 for both terms More...

FCL_REAL	abs_err

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

Transform3f	tf2
	configuration of second object More...