Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS) More...

#include <mesh_collision_traversal_node.h>

Inheritance diagram for fcl::detail::MeshCollisionTraversalNodeOBB< S >:

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Public Member Functions
bool	BVTesting (int b1, int b2) const
	BV test between b1 and b2. More...

bool	BVTesting (int b1, int b2, const Matrix3< S > &Rc, const Vector3< S > &Tc) const

bool	BVTesting (int b1, int b2, const Transform3< S > &tf) const

void	leafTesting (int b1, int b2) const
	Leaf test between node b1 and b2, if they are both leafs. More...

void	leafTesting (int b1, int b2, const Matrix3< S > &Rc, const Vector3< S > &Tc) const

void	leafTesting (int b1, int b2, const Transform3< S > &tf) const

	MeshCollisionTraversalNodeOBB ()

Public Member Functions inherited from fcl::detail::MeshCollisionTraversalNode< OBB< S > >
bool	canStop () const
	Whether the traversal process can stop early. More...

void	leafTesting (int b1, int b2) const
	Intersection testing between leaves (two triangles) More...

	MeshCollisionTraversalNode ()

Public Member Functions inherited from fcl::detail::BVHCollisionTraversalNode< OBB< S > >
	BVHCollisionTraversalNode ()

bool	BVTesting (int b1, int b2) const
	BV culling test in one BVTT node. More...

bool	firstOverSecond (int b1, int b2) const
	Determine the traversal order, is the first BVTT subtree better. More...

int	getFirstLeftChild (int b) const
	Obtain the left child of BV node in the first BVH. More...

int	getFirstRightChild (int b) const
	Obtain the right child of BV node in the first BVH. 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...

bool	isFirstNodeLeaf (int b) const
	Whether the BV node in the first BVH tree is leaf. More...

bool	isSecondNodeLeaf (int b) const
	Whether the BV node in the second BVH tree is leaf. More...

Public Member Functions inherited from fcl::detail::CollisionTraversalNodeBase< OBB< S > ::S >
	CollisionTraversalNodeBase ()

void	enableStatistics (bool enable)
	Whether store some statistics information during traversal. More...

virtual	~CollisionTraversalNodeBase ()

Public Member Functions inherited from fcl::detail::TraversalNodeBase< OBB< S > ::S >
virtual void	postprocess ()

virtual void	preprocess ()

virtual	~TraversalNodeBase ()

Public Attributes
Matrix3< S >	R

Vector3< S >	T

Public Attributes inherited from fcl::detail::MeshCollisionTraversalNode< OBB< S > >
S	cost_density

Triangle *	tri_indices1

Triangle *	tri_indices2

Vector3< S > *	vertices1

Vector3< S > *	vertices2

Public Attributes inherited from fcl::detail::BVHCollisionTraversalNode< OBB< S > >
const BVHModel< OBB< S > > *	model1
	The first BVH model. More...

const BVHModel< OBB< S > > *	model2
	The second BVH model. More...

int	num_bv_tests
	statistical information More...

int	num_leaf_tests

S	query_time_seconds

Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< OBB< S > ::S >
bool	enable_statistics
	Whether stores statistics. More...

CollisionRequest< OBB< S > ::S >	request
	request setting for collision More...

CollisionResult< OBB< S > ::S > *	result
	collision result kept during the traversal iteration More...

Public Attributes inherited from fcl::detail::TraversalNodeBase< OBB< S > ::S >
Transform3< OBB< S > ::S >	tf1
	configuation of first object More...

Transform3< OBB< S > ::S >	tf2
	configuration of second object More...

Additional Inherited Members
Public Types inherited from fcl::detail::MeshCollisionTraversalNode< OBB< S > >
using	S = typename OBB< S > ::S

Public Types inherited from fcl::detail::BVHCollisionTraversalNode< OBB< S > >
using	S = typename OBB< S > ::S