shape_octree_collision_traversal_node-inl.h
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35 
38 #ifndef FCL_TRAVERSAL_OCTREE_SHAPEOCTREECOLLISIONTRAVERSALNODE_INL_H
39 #define FCL_TRAVERSAL_OCTREE_SHAPEOCTREECOLLISIONTRAVERSALNODE_INL_H
40 
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
49 //==============================================================================
50 template <typename Shape, typename NarrowPhaseSolver>
53 {
54  model1 = nullptr;
55  model2 = nullptr;
56 
57  otsolver = nullptr;
58 }
59 
60 //==============================================================================
61 template <typename Shape, typename NarrowPhaseSolver>
63 BVTesting(int, int) const
64 {
65  return false;
66 }
67 
68 //==============================================================================
69 template <typename Shape, typename NarrowPhaseSolver>
71 leafTesting(int, int) const
72 {
73  otsolver->OcTreeShapeIntersect(
74  model2, *model1, tf2, tf1, this->request, *this->result);
75 }
76 
77 //==============================================================================
78 template <typename Shape, typename NarrowPhaseSolver>
81  const Shape& model1,
83  const OcTree<typename Shape::S>& model2,
85  const OcTreeSolver<NarrowPhaseSolver>* otsolver,
88 {
89  node.request = request;
90  node.result = &result;
91 
92  node.model1 = &model1;
93  node.model2 = &model2;
94 
95  node.otsolver = otsolver;
96 
97  node.tf1 = tf1;
98  node.tf2 = tf2;
99 
100  return true;
101 }
102 
103 } // namespace detail
104 } // namespace fcl
105 
106 #endif
fcl::detail::OcTreeSolver
Algorithms for collision related with octree.
Definition: octree_solver.h:59
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::detail::ShapeOcTreeCollisionTraversalNode::tf1
Transform3< S > tf1
Definition: shape_octree_collision_traversal_node.h:75
fcl::detail::ShapeOcTreeCollisionTraversalNode::tf2
Transform3< S > tf2
Definition: shape_octree_collision_traversal_node.h:76
fcl::detail::ShapeOcTreeCollisionTraversalNode::BVTesting
bool BVTesting(int, int) const
BV test between b1 and b2.
Definition: shape_octree_collision_traversal_node-inl.h:63
fcl::detail::CollisionTraversalNodeBase< Shape::S >::request
CollisionRequest< Shape::S > request
request setting for collision
Definition: collision_traversal_node_base.h:72
fcl::detail::ShapeOcTreeCollisionTraversalNode::leafTesting
void leafTesting(int, int) const
Leaf test between node b1 and b2, if they are both leafs.
Definition: shape_octree_collision_traversal_node-inl.h:71
fcl::CollisionResult
collision result
Definition: collision_request.h:48
fcl::detail::ShapeOcTreeCollisionTraversalNode::ShapeOcTreeCollisionTraversalNode
ShapeOcTreeCollisionTraversalNode()
Definition: shape_octree_collision_traversal_node-inl.h:52
fcl::detail::ShapeOcTreeCollisionTraversalNode::otsolver
const OcTreeSolver< NarrowPhaseSolver > * otsolver
Definition: shape_octree_collision_traversal_node.h:78
fcl::detail::ShapeOcTreeCollisionTraversalNode::model2
const OcTree< S > * model2
Definition: shape_octree_collision_traversal_node.h:73
fcl::CollisionRequest
Parameters for performing collision request.
Definition: collision_request.h:52
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< Shape::S >::result
CollisionResult< Shape::S > * result
collision result kept during the traversal iteration
Definition: collision_traversal_node_base.h:75
shape_octree_collision_traversal_node.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::detail::ShapeOcTreeCollisionTraversalNode::model1
const Shape * model1
Definition: shape_octree_collision_traversal_node.h:72
fcl::detail::ShapeOcTreeCollisionTraversalNode
Traversal node for shape-octree collision.
Definition: shape_octree_collision_traversal_node.h:59


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