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

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

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

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

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

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

Public Member Functions
	ShapeMeshCollisionTraversalNode ()
bool	BVTesting (int, int b2) const
	BV test between b1 and b2. More...
bool	BVTesting (int, int b2, FCL_REAL &sqrDistLowerBound) const
	BV test between b1 and b2. More...
void	leafTesting (int, int b2, FCL_REAL &sqrDistLowerBound) const
	Intersection testing between leaves (one shape and one triangle) More...
bool	canStop () const
	Whether the traversal process can stop early. More...
Public Member Functions inherited from hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >
	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 ()
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
Vec3f *	vertices
Triangle *	tri_indices
const NarrowPhaseSolver *	nsolver
Public Attributes inherited from hpp::fcl::ShapeBVHCollisionTraversalNode< S, BV >
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...

Detailed Description

template<typename S, typename BV, typename NarrowPhaseSolver, int _Options = RelativeTransformationIsIdentity>
class hpp::fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver, _Options >

Traversal node for collision between shape and mesh.

Member Enumeration Documentation

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

anonymous enum

Enumerator
Options
RTIsIdentity

Constructor & Destructor Documentation

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

hpp::fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver, _Options >::ShapeMeshCollisionTraversalNode ( )

inline

Member Function Documentation

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

bool hpp::fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver, _Options >::BVTesting ( int  , int  b2  ) const

inlinevirtual

BV test between b1 and b2.

Parameters

b2	Bounding volumes to test,

Implements hpp::fcl::CollisionTraversalNodeBase.

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

bool hpp::fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver, _Options >::BVTesting ( int  , int  b2, FCL_REAL &  sqrDistLowerBound  ) const

inlinevirtual

BV test between b1 and b2.

Parameters

b2	Bounding volumes to test,

Return values

sqrDistLowerBound

square of a lower bound of the minimal distance between bounding volumes.

Implements hpp::fcl::CollisionTraversalNodeBase.

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

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

inlinevirtual

Whether the traversal process can stop early.

Reimplemented from hpp::fcl::CollisionTraversalNodeBase.

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

void hpp::fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver, _Options >::leafTesting ( int  , int  b2, FCL_REAL &  sqrDistLowerBound  ) const

inlinevirtual

Intersection testing between leaves (one shape and one triangle)

Reimplemented from hpp::fcl::CollisionTraversalNodeBase.

Member Data Documentation

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

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

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

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

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

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

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

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

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