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

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

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

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

Public Member Functions
	ShapeMeshDistanceTraversalNode ()

void	leafTesting (int b1, int b2) const
	Distance testing between leaves (one shape and one triangle) More...

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

Public Member Functions inherited from hpp::fcl::ShapeBVHDistanceTraversalNode< S, BV >
	ShapeBVHDistanceTraversalNode ()

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...

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 ()

virtual bool	isFirstNodeLeaf (int b) const
	Whether b is a leaf node in the first 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	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

FCL_REAL	rel_err

FCL_REAL	abs_err

const NarrowPhaseSolver *	nsolver

Public Attributes inherited from hpp::fcl::ShapeBVHDistanceTraversalNode< 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::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...