Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...
#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
Public Member Functions | |
| ShapeMeshCollisionTraversalNodeOBB () | |
 Public Member Functions inherited from hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 > | |
| 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, OBB > | |
| 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... | |
Additional Inherited Members | |
| Public Types inherited from hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 > | |
| enum | |
| Public Attributes inherited from hpp::fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver, 0 > | |
| Vec3f * | vertices |
| Triangle * | tri_indices |
| const NarrowPhaseSolver * | nsolver |
| Public Attributes inherited from hpp::fcl::ShapeBVHCollisionTraversalNode< S, OBB > | |
| const S * | model1 |
| const BVHModel< OBB > * | model2 |
| OBB | 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... | |
Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
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inline |
1.8.11
