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 hpp::fcl::BVNode< BV >:
Public Types | |
| typedef BVNodeBase | Base |
Public Member Functions | |
| FCL_REAL | distance (const BVNode &other, Vec3f *P1=NULL, Vec3f *P2=NULL) const |
| Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points. More... | |
| Vec3f | getCenter () const |
| Access to the center of the BV. More... | |
| const Matrix3f & | getOrientation () const |
| Access to the orientation of the BV. More... | |
| const Matrix3f & | getOrientation () const |
| const Matrix3f & | getOrientation () const |
| const Matrix3f & | getOrientation () const |
| bool | operator!= (const BVNode &other) const |
| Difference operator. More... | |
| bool | operator== (const BVNode &other) const |
| Equality operator. More... | |
| bool | overlap (const BVNode &other) const |
| Check whether two BVNode collide. More... | |
| bool | overlap (const BVNode &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const |
| Check whether two BVNode collide. More... | |
 Public Member Functions inherited from hpp::fcl::BVNodeBase | |
| BVNodeBase () | |
| Default constructor. More... | |
| 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... | |
| bool | operator!= (const BVNodeBase &other) const |
| Difference operator. More... | |
| bool | operator== (const BVNodeBase &other) const |
| Equality operator. 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 hpp::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... | |
| unsigned 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... | |
| unsigned int | num_primitives |
| The number of primitives belonging to the current node. More... | |
Detailed Description
template<typename BV>
struct hpp::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.
Definition at line 109 of file BV/BV_node.h.
Member Function Documentation
◆ getOrientation() [1/3]
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inline |
Definition at line 153 of file BV/BV_node.h.
◆ getOrientation() [2/3]
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inline |
Definition at line 158 of file BV/BV_node.h.
◆ getOrientation() [3/3]
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inline |
Definition at line 163 of file BV/BV_node.h.
The documentation for this struct was generated from the following file: