hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options > Class Template Reference

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

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

Inheritance diagram for hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >:

Collaboration diagram for hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >:

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

Public Member Functions
	MeshShapeCollisionTraversalNode (const CollisionRequest &request)
bool	BVTesting (int b1, int) const
	BV culling test in one BVTT node. More...
bool	BVTesting (int b1, int, FCL_REAL &sqrDistLowerBound) const
	test between BV b1 and shape More...
void	leafTesting (int b1, int, FCL_REAL &sqrDistLowerBound) const
	Intersection testing between leaves (one triangle and one shape) More...
bool	canStop () const
	Whether the traversal process can stop early. More...
Public Member Functions inherited from hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >
	BVHShapeCollisionTraversalNode (const CollisionRequest &request)
bool	isFirstNodeLeaf (int b) const
	Whether the BV node in the first BVH tree is leaf. 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...
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 ()
virtual bool	isSecondNodeLeaf (int b) const
	Whether b is a leaf node in the second 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	getSecondLeftChild (int b) const
	Get the left child of the node b in the second tree. More...
virtual int	getSecondRightChild (int b) const
	Get the right child of the node b in the second tree. More...

Public Attributes
Vec3f *	vertices
Triangle *	tri_indices
const NarrowPhaseSolver *	nsolver
Public Attributes inherited from hpp::fcl::BVHShapeCollisionTraversalNode< BV, S >
const BVHModel< BV > *	model1
const S *	model2
BV	model2_bv
int	num_bv_tests
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, typename S, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>
class hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >

Traversal node for collision between mesh and shape.

Member Enumeration Documentation

template<typename BV, typename S, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>

anonymous enum

Enumerator
Options
RTIsIdentity

Constructor & Destructor Documentation

template<typename BV, typename S, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>

hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::MeshShapeCollisionTraversalNode ( const CollisionRequest &  request )

inline

Member Function Documentation

template<typename BV, typename S, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>

bool hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::BVTesting ( int  b1, int    ) const

inlinevirtual

BV culling test in one BVTT node.

Implements hpp::fcl::CollisionTraversalNodeBase.

template<typename BV, typename S, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>

bool hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::BVTesting ( int  b1, int  , FCL_REAL &  sqrDistLowerBound  ) const

inlinevirtual

test between BV b1 and shape

Parameters

b1	BV to test,

Return values

sqrDistLowerBound

square of a lower bound of the minimal distance between bounding volumes. BV culling test in one BVTT node

Implements hpp::fcl::CollisionTraversalNodeBase.

template<typename BV, typename S, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>

bool hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::canStop ( ) const

inlinevirtual

Whether the traversal process can stop early.

Reimplemented from hpp::fcl::CollisionTraversalNodeBase.

template<typename BV, typename S, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>

void hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::leafTesting ( int  b1, int  , FCL_REAL &  sqrDistLowerBound  ) const

inlinevirtual

Intersection testing between leaves (one triangle and one shape)

Reimplemented from hpp::fcl::CollisionTraversalNodeBase.

Member Data Documentation

template<typename BV, typename S, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>

const NarrowPhaseSolver* hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::nsolver

Referenced by hpp::fcl::initialize().

template<typename BV, typename S, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>

Triangle* hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::tri_indices

Referenced by hpp::fcl::initialize().

template<typename BV, typename S, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>

Vec3f* hpp::fcl::MeshShapeCollisionTraversalNode< BV, S, NarrowPhaseSolver, _Options >::vertices

Referenced by hpp::fcl::initialize().