bvh_distance_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_BVHDISTANCETRAVERSALNODE_H
39 #define FCL_TRAVERSAL_BVHDISTANCETRAVERSALNODE_H
40 
44 
45 namespace fcl
46 {
47 
48 namespace detail
49 {
50 
52 template <typename BV>
53 class FCL_EXPORT BVHDistanceTraversalNode
54  : public DistanceTraversalNodeBase<typename BV::S>
55 {
56 public:
57 
58  using S = typename BV::S;
59 
61 
63  bool isFirstNodeLeaf(int b) const;
64 
66  bool isSecondNodeLeaf(int b) const;
67 
69  bool firstOverSecond(int b1, int b2) const;
70 
72  int getFirstLeftChild(int b) const;
73 
75  int getFirstRightChild(int b) const;
76 
78  int getSecondLeftChild(int b) const;
79 
81  int getSecondRightChild(int b) const;
82 
84  S BVTesting(int b1, int b2) const;
85 
90 
92  mutable int num_bv_tests;
93  mutable int num_leaf_tests;
95 };
96 
97 } // namespace detail
98 } // namespace fcl
99 
101 
102 #endif
fcl::detail::DistanceTraversalNodeBase
Node structure encoding the information required for distance traversal.
Definition: distance_traversal_node_base.h:53
fcl::detail::BVHDistanceTraversalNode< RSS< S > >::S
typename RSS< S > ::S S
Definition: bvh_distance_traversal_node.h:58
fcl::detail::BVHDistanceTraversalNode::num_leaf_tests
int num_leaf_tests
Definition: bvh_distance_traversal_node.h:93
fcl::detail::BVHDistanceTraversalNode::num_bv_tests
int num_bv_tests
statistical information
Definition: bvh_distance_traversal_node.h:92
fcl::detail::BVHDistanceTraversalNode::query_time_seconds
S query_time_seconds
Definition: bvh_distance_traversal_node.h:94
traversal_node_base.h
BVH_model.h
fcl::detail::BVHDistanceTraversalNode::model2
const BVHModel< BV > * model2
The second BVH model.
Definition: bvh_distance_traversal_node.h:89
fcl::BVHModel
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:57
distance_traversal_node_base.h
fcl::detail::BVHDistanceTraversalNode::model1
const BVHModel< BV > * model1
The first BVH model.
Definition: bvh_distance_traversal_node.h:87
fcl::detail::BVHDistanceTraversalNode
Traversal node for distance computation between BVH models.
Definition: bvh_distance_traversal_node.h:53
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
bvh_distance_traversal_node-inl.h


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