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

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

Inheritance diagram for hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >:

Collaboration diagram for hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >:

Public Member Functions
	ShapeBVHCollisionTraversalNode (const CollisionRequest &request)

bool	firstOverSecond (int, int) const
	Alway extend the second model, which is a BVH model. More...

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...

Public Member Functions inherited from hpp::fcl::CollisionTraversalNodeBase
	CollisionTraversalNodeBase (const CollisionRequest &request_)

virtual	~CollisionTraversalNodeBase ()

virtual bool	BVTesting (int b1, int b2) const =0
	BV test between b1 and b2. More...

virtual bool	BVTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const =0
	BV test between b1 and b2. More...

virtual void	leafTesting (int, int, FCL_REAL &) const
	Leaf test between node b1 and b2, if they are both leafs. More...

virtual bool	canStop () const
	Check whether the traversal can stop. More...

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