hpp-fcl
1.4.4
HPP fork of FCL -- The Flexible Collision Library
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A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...
#include <hpp/fcl/BV/BV_node.h>
Public Member Functions | |
bool | overlap (const BVNode &other) const |
Check whether two BVNode collide. More... | |
bool | overlap (const BVNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const |
Check whether two BVNode collide. More... | |
FCL_REAL | distance (const BVNode &other, Vec3f *P1=NULL, Vec3f *P2=NULL) const |
Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points. More... | |
Vec3f | getCenter () const |
Access to the center of the BV. More... | |
const Matrix3f & | getOrientation () const |
Access to the orientation of the BV. More... | |
template<> | |
const Matrix3f & | getOrientation () const |
template<> | |
const Matrix3f & | getOrientation () const |
template<> | |
const Matrix3f & | getOrientation () const |
Public Member Functions inherited from hpp::fcl::BVNodeBase | |
bool | isLeaf () const |
Whether current node is a leaf node (i.e. contains a primitive index. More... | |
int | primitiveId () const |
Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel. More... | |
int | leftChild () const |
Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More... | |
int | rightChild () const |
Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More... | |
Public Attributes | |
BV | bv |
bounding volume storing the geometry More... | |
Public Attributes inherited from hpp::fcl::BVNodeBase | |
int | first_child |
An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used. More... | |
int | first_primitive |
The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly. More... | |
int | num_primitives |
The number of primitives belonging to the current node. More... | |
A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.
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