fcl::BVNode< BV > Struct Template Reference

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...

`#include <BV_node.h>`

Inheritance diagram for fcl::BVNode< BV >:

## Public Types | |

using | S = typename BV::S |

## Public Member Functions | |

S | distance (const BVNode &other, Vector3< S > *P1=nullptr, Vector3< S > *P2=nullptr) const |

Compute the distance between two BVNode. P1 and P2, if not nullptr and the underlying BV supports distance, return the nearest points. More... | |

Vector3< S > | getCenter () const |

Access the center of the BV. More... | |

Matrix3< S > | getOrientation () const |

Access the orientation of the BV. More... | |

bool | overlap (const BVNode &other) const |

Check whether two BVNode collide. More... | |

Public Member Functions inherited from fcl::BVNodeBase | |

bool | isLeaf () const |

Whether current node is a leaf node (i.e. contains a primitive index. More... | |

int | leftChild () const |

Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More... | |

int | primitiveId () const |

Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel. More... | |

int | rightChild () const |

Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More... | |

## Public Attributes | |

BV | bv |

bounding volume storing the geometry More... | |

Public Attributes inherited from fcl::BVNodeBase | |

int | first_child |

An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used. More... | |

int | first_primitive |

The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly. More... | |

int | num_primitives |

The number of primitives belonging to the current node. More... | |

struct fcl::BVNode< BV >

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.

template<typename BV >

using fcl::BVNode< BV >::S = typename BV::S |

template<typename BV >

BVNode< BV >::S fcl::BVNode< BV >::distance | ( | const BVNode< BV > & | other, |

Vector3< S > * | P1 = `nullptr` , |
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Vector3< S > * | P2 = `nullptr` |
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) | const |

Compute the distance between two BVNode. P1 and P2, if not nullptr and the underlying BV supports distance, return the nearest points.

Definition at line 55 of file BV_node-inl.h.

template<typename BV >

Vector3< typename BVNode< BV >::S > fcl::BVNode< BV >::getCenter |

Access the center of the BV.

Definition at line 63 of file BV_node-inl.h.

template<typename BV >

Matrix3< typename BV::S > fcl::BVNode< BV >::getOrientation |

Access the orientation of the BV.

Definition at line 80 of file BV_node-inl.h.

template<typename BV >

bool fcl::BVNode< BV >::overlap | ( | const BVNode< BV > & | other | ) | const |

Check whether two BVNode collide.

Definition at line 48 of file BV_node-inl.h.

template<typename BV >

BV fcl::BVNode< BV >::bv |

The documentation for this struct was generated from the following files: