shape_collision_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_SHAPECOLLISIONTRAVERSALNODE_H
39 #define FCL_TRAVERSAL_SHAPECOLLISIONTRAVERSALNODE_H
40 
44 
45 namespace fcl
46 {
47 
48 namespace detail
49 {
50 
52 template <typename Shape1, typename Shape2, typename NarrowPhaseSolver>
54  : public CollisionTraversalNodeBase<typename Shape1::S>
55 {
56 public:
57 
58  using S = typename Shape1::S;
59 
61 
63  bool BVTesting(int, int) const;
64 
66  void leafTesting(int, int) const;
67 
68  const Shape1* model1;
69  const Shape2* model2;
70 
72 
73  const NarrowPhaseSolver* nsolver;
74 };
75 
78 template <typename Shape1, typename Shape2, typename NarrowPhaseSolver>
79 bool initialize(
81  const Shape1& shape1,
83  const Shape2& shape2,
85  const NarrowPhaseSolver* nsolver,
88 
89 } // namespace detail
90 } // namespace fcl
91 
93 
94 #endif
fcl::detail::ShapeCollisionTraversalNode::S
typename Shape1::S S
Definition: shape_collision_traversal_node.h:58
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
utility.h
fcl::detail::ShapeCollisionTraversalNode::model2
const Shape2 * model2
Definition: shape_collision_traversal_node.h:69
fcl::detail::ShapeCollisionTraversalNode
Traversal node for collision between two shapes.
Definition: shape_collision_traversal_node.h:53
fcl::detail::ShapeCollisionTraversalNode::nsolver
const NarrowPhaseSolver * nsolver
Definition: shape_collision_traversal_node.h:73
shape_collision_traversal_node-inl.h
fcl::CollisionResult
collision result
Definition: collision_request.h:48
fcl::detail::ShapeCollisionTraversalNode::model1
const Shape1 * model1
Definition: shape_collision_traversal_node.h:68
fcl::CollisionRequest
Parameters for performing collision request.
Definition: collision_request.h:52
contact_point.h
fcl::detail::initialize
template bool initialize(MeshCollisionTraversalNodeOBB< double > &node, const BVHModel< OBB< double >> &model1, const Transform3< double > &tf1, const BVHModel< OBB< double >> &model2, const Transform3< double > &tf2, const CollisionRequest< double > &request, CollisionResult< double > &result)
fcl::detail::CollisionTraversalNodeBase
Node structure encoding the information required for collision traversal.
Definition: collision_traversal_node_base.h:52
fcl::detail::ShapeCollisionTraversalNode::cost_density
S cost_density
Definition: shape_collision_traversal_node.h:71
collision_traversal_node_base.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Dec 5 2023 03:40:48