hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
traversal_node_setup.h File Reference
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Functions

template<typename BV >
bool initialize (MeshCollisionTraversalNode< BV, RelativeTransformationIsIdentity > &node, BVHModel< BV > &model1, Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false)
 Initialize traversal node for collision between two meshes, given the current transforms. More...
 
template<typename BV >
bool initialize (MeshCollisionTraversalNode< BV, 0 > &node, const BVHModel< BV > &model1, const Transform3f &tf1, const BVHModel< BV > &model2, const Transform3f &tf2, CollisionResult &result)
 
template<typename S1 , typename S2 >
bool initialize (ShapeDistanceTraversalNode< S1, S2 > &node, const S1 &shape1, const Transform3f &tf1, const S2 &shape2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
 Initialize traversal node for distance between two geometric shapes. More...
 
template<typename BV >
bool initialize (MeshDistanceTraversalNode< BV, RelativeTransformationIsIdentity > &node, BVHModel< BV > &model1, Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false)
 Initialize traversal node for distance computation between two meshes, given the current transforms. More...
 
template<typename BV >
bool initialize (MeshDistanceTraversalNode< BV, 0 > &node, const BVHModel< BV > &model1, const Transform3f &tf1, const BVHModel< BV > &model2, const Transform3f &tf2, const DistanceRequest &request, DistanceResult &result)
 Initialize traversal node for distance computation between two meshes. More...
 
template<typename BV , typename S >
bool initialize (MeshShapeDistanceTraversalNode< BV, S > &node, BVHModel< BV > &model1, Transform3f &tf1, const S &model2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false)
 Initialize traversal node for distance computation between one mesh and one shape, given the current transforms. More...
 
template<typename S , typename BV >
bool initialize (ShapeMeshDistanceTraversalNode< S, BV > &node, const S &model1, const Transform3f &tf1, BVHModel< BV > &model2, Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result, bool use_refit=false, bool refit_bottomup=false)
 Initialize traversal node for distance computation between one shape and one mesh, given the current transforms. More...
 
template<typename S >
bool initialize (MeshShapeDistanceTraversalNodeRSS< S > &node, const BVHModel< RSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
 Initialize traversal node for distance computation between one mesh and one shape, specialized for RSS type. More...
 
template<typename S >
bool initialize (MeshShapeDistanceTraversalNodekIOS< S > &node, const BVHModel< kIOS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
 Initialize traversal node for distance computation between one mesh and one shape, specialized for kIOS type. More...
 
template<typename S >
bool initialize (MeshShapeDistanceTraversalNodeOBBRSS< S > &node, const BVHModel< OBBRSS > &model1, const Transform3f &tf1, const S &model2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
 Initialize traversal node for distance computation between one mesh and one shape, specialized for OBBRSS type. More...
 
template<typename S >
bool initialize (ShapeMeshDistanceTraversalNodeRSS< S > &node, const S &model1, const Transform3f &tf1, const BVHModel< RSS > &model2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
 Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type. More...
 
template<typename S >
bool initialize (ShapeMeshDistanceTraversalNodekIOS< S > &node, const S &model1, const Transform3f &tf1, const BVHModel< kIOS > &model2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
 Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type. More...
 
template<typename S >
bool initialize (ShapeMeshDistanceTraversalNodeOBBRSS< S > &node, const S &model1, const Transform3f &tf1, const BVHModel< OBBRSS > &model2, const Transform3f &tf2, const GJKSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
 Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type. More...
 

Function Documentation

◆ initialize() [1/13]

template<typename BV >
bool initialize ( MeshCollisionTraversalNode< BV, RelativeTransformationIsIdentity > &  node,
BVHModel< BV > &  model1,
Transform3f &  tf1,
BVHModel< BV > &  model2,
Transform3f &  tf2,
CollisionResult &  result,
bool  use_refit = false,
bool  refit_bottomup = false 
)

Initialize traversal node for collision between two meshes, given the current transforms.

Author
Jia Pan

◆ initialize() [2/13]

template<typename BV >
bool initialize ( MeshCollisionTraversalNode< BV, 0 > &  node,
const BVHModel< BV > &  model1,
const Transform3f &  tf1,
const BVHModel< BV > &  model2,
const Transform3f &  tf2,
CollisionResult &  result 
)

◆ initialize() [3/13]

template<typename S1 , typename S2 >
bool initialize ( ShapeDistanceTraversalNode< S1, S2 > &  node,
const S1 &  shape1,
const Transform3f &  tf1,
const S2 &  shape2,
const Transform3f &  tf2,
const GJKSolver *  nsolver,
const DistanceRequest &  request,
DistanceResult &  result 
)

Initialize traversal node for distance between two geometric shapes.

◆ initialize() [4/13]

template<typename BV >
bool initialize ( MeshDistanceTraversalNode< BV, RelativeTransformationIsIdentity > &  node,
BVHModel< BV > &  model1,
Transform3f &  tf1,
BVHModel< BV > &  model2,
Transform3f &  tf2,
const DistanceRequest &  request,
DistanceResult &  result,
bool  use_refit = false,
bool  refit_bottomup = false 
)

Initialize traversal node for distance computation between two meshes, given the current transforms.

◆ initialize() [5/13]

template<typename BV >
bool initialize ( MeshDistanceTraversalNode< BV, 0 > &  node,
const BVHModel< BV > &  model1,
const Transform3f &  tf1,
const BVHModel< BV > &  model2,
const Transform3f &  tf2,
const DistanceRequest &  request,
DistanceResult &  result 
)

Initialize traversal node for distance computation between two meshes.

◆ initialize() [6/13]

template<typename BV , typename S >
bool initialize ( MeshShapeDistanceTraversalNode< BV, S > &  node,
BVHModel< BV > &  model1,
Transform3f &  tf1,
const S &  model2,
const Transform3f &  tf2,
const GJKSolver *  nsolver,
const DistanceRequest &  request,
DistanceResult &  result,
bool  use_refit = false,
bool  refit_bottomup = false 
)

Initialize traversal node for distance computation between one mesh and one shape, given the current transforms.

◆ initialize() [7/13]

template<typename S , typename BV >
bool initialize ( ShapeMeshDistanceTraversalNode< S, BV > &  node,
const S &  model1,
const Transform3f &  tf1,
BVHModel< BV > &  model2,
Transform3f &  tf2,
const GJKSolver *  nsolver,
const DistanceRequest &  request,
DistanceResult &  result,
bool  use_refit = false,
bool  refit_bottomup = false 
)

Initialize traversal node for distance computation between one shape and one mesh, given the current transforms.

◆ initialize() [8/13]

template<typename S >
bool initialize ( MeshShapeDistanceTraversalNodeRSS< S > &  node,
const BVHModel< RSS > &  model1,
const Transform3f &  tf1,
const S &  model2,
const Transform3f &  tf2,
const GJKSolver *  nsolver,
const DistanceRequest &  request,
DistanceResult &  result 
)

Initialize traversal node for distance computation between one mesh and one shape, specialized for RSS type.

◆ initialize() [9/13]

template<typename S >
bool initialize ( MeshShapeDistanceTraversalNodekIOS< S > &  node,
const BVHModel< kIOS > &  model1,
const Transform3f &  tf1,
const S &  model2,
const Transform3f &  tf2,
const GJKSolver *  nsolver,
const DistanceRequest &  request,
DistanceResult &  result 
)

Initialize traversal node for distance computation between one mesh and one shape, specialized for kIOS type.

◆ initialize() [10/13]

template<typename S >
bool initialize ( MeshShapeDistanceTraversalNodeOBBRSS< S > &  node,
const BVHModel< OBBRSS > &  model1,
const Transform3f &  tf1,
const S &  model2,
const Transform3f &  tf2,
const GJKSolver *  nsolver,
const DistanceRequest &  request,
DistanceResult &  result 
)

Initialize traversal node for distance computation between one mesh and one shape, specialized for OBBRSS type.

◆ initialize() [11/13]

template<typename S >
bool initialize ( ShapeMeshDistanceTraversalNodeRSS< S > &  node,
const S &  model1,
const Transform3f &  tf1,
const BVHModel< RSS > &  model2,
const Transform3f &  tf2,
const GJKSolver *  nsolver,
const DistanceRequest &  request,
DistanceResult &  result 
)

Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type.

◆ initialize() [12/13]

template<typename S >
bool initialize ( ShapeMeshDistanceTraversalNodekIOS< S > &  node,
const S &  model1,
const Transform3f &  tf1,
const BVHModel< kIOS > &  model2,
const Transform3f &  tf2,
const GJKSolver *  nsolver,
const DistanceRequest &  request,
DistanceResult &  result 
)

Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type.

◆ initialize() [13/13]

template<typename S >
bool initialize ( ShapeMeshDistanceTraversalNodeOBBRSS< S > &  node,
const S &  model1,
const Transform3f &  tf1,
const BVHModel< OBBRSS > &  model2,
const Transform3f &  tf2,
const GJKSolver *  nsolver,
const DistanceRequest &  request,
DistanceResult &  result 
)

Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type.