continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration More...
#include <traversal_node_bvhs.h>
Public Member Functions | |
| FCL_REAL | BVTesting (int b1, int b2) const |
| BV culling test in one BVTT node. | |
| template<> | |
| bool | canStop (FCL_REAL c) const |
| Whether the traversal process can stop early. | |
| template<> | |
| bool | canStop (FCL_REAL c) const |
| Whether the traversal process can stop early. | |
| bool | canStop (FCL_REAL c) const |
| Whether the traversal process can stop early. | |
| template<> | |
| bool | canStop (FCL_REAL c) const |
| Whether the traversal process can stop early. | |
| template<> | |
| bool | canStop (FCL_REAL c) const |
| Whether the traversal process can stop early. | |
| void | leafTesting (int b1, int b2) const |
| Conservative advancement testing between leaves (two triangles) | |
| MeshConservativeAdvancementTraversalNode (FCL_REAL w_=1) | |
Public Attributes | |
| FCL_REAL | delta_t |
| The delta_t each step. | |
| int | last_tri_id1 |
| int | last_tri_id2 |
| FCL_REAL | min_distance |
| MotionBase< BV > * | motion1 |
| Motions for the two objects in query. | |
| MotionBase< BV > * | motion2 |
| Vec3f | p1 |
| Vec3f | p2 |
| std::vector < ConservativeAdvancementStackData > | stack |
| FCL_REAL | t_err |
| FCL_REAL | toc |
| The time from beginning point. | |
| FCL_REAL | w |
| CA controlling variable: early stop for the early iterations of CA. | |
continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration
Definition at line 676 of file traversal_node_bvhs.h.
| fcl::MeshConservativeAdvancementTraversalNode< BV >::MeshConservativeAdvancementTraversalNode | ( | FCL_REAL | w_ = 1 | ) | [inline] |
Definition at line 679 of file traversal_node_bvhs.h.
| FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::BVTesting | ( | int | b1, |
| int | b2 | ||
| ) | const [inline, virtual] |
BV culling test in one BVTT node.
Reimplemented from fcl::BVHDistanceTraversalNode< BV >.
Reimplemented in fcl::MeshConservativeAdvancementTraversalNodeRSS.
Definition at line 692 of file traversal_node_bvhs.h.
| bool fcl::MeshConservativeAdvancementTraversalNode< OBB >::canStop | ( | FCL_REAL | c | ) | const [virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
Definition at line 433 of file traversal_node_bvhs.cpp.
| bool fcl::MeshConservativeAdvancementTraversalNode< RSS >::canStop | ( | FCL_REAL | c | ) | const [virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
Definition at line 493 of file traversal_node_bvhs.cpp.
| bool fcl::MeshConservativeAdvancementTraversalNode< BV >::canStop | ( | FCL_REAL | c | ) | const [inline, virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
Reimplemented in fcl::MeshConservativeAdvancementTraversalNodeRSS.
Definition at line 760 of file traversal_node_bvhs.h.
| bool fcl::MeshConservativeAdvancementTraversalNode< OBB >::canStop | ( | FCL_REAL | c | ) | const [virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
| bool fcl::MeshConservativeAdvancementTraversalNode< RSS >::canStop | ( | FCL_REAL | c | ) | const [virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
| void fcl::MeshConservativeAdvancementTraversalNode< BV >::leafTesting | ( | int | b1, |
| int | b2 | ||
| ) | const [inline, virtual] |
Conservative advancement testing between leaves (two triangles)
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
Reimplemented in fcl::MeshConservativeAdvancementTraversalNodeRSS.
Definition at line 704 of file traversal_node_bvhs.h.
FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::delta_t [mutable] |
The delta_t each step.
Definition at line 832 of file traversal_node_bvhs.h.
int fcl::MeshConservativeAdvancementTraversalNode< BV >::last_tri_id1 [mutable] |
Definition at line 821 of file traversal_node_bvhs.h.
int fcl::MeshConservativeAdvancementTraversalNode< BV >::last_tri_id2 [mutable] |
Definition at line 821 of file traversal_node_bvhs.h.
FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::min_distance [mutable] |
Definition at line 817 of file traversal_node_bvhs.h.
| MotionBase<BV>* fcl::MeshConservativeAdvancementTraversalNode< BV >::motion1 |
Motions for the two objects in query.
Definition at line 835 of file traversal_node_bvhs.h.
| MotionBase<BV>* fcl::MeshConservativeAdvancementTraversalNode< BV >::motion2 |
Definition at line 836 of file traversal_node_bvhs.h.
Vec3f fcl::MeshConservativeAdvancementTraversalNode< BV >::p1 [mutable] |
Definition at line 819 of file traversal_node_bvhs.h.
Vec3f fcl::MeshConservativeAdvancementTraversalNode< BV >::p2 [mutable] |
Definition at line 819 of file traversal_node_bvhs.h.
std::vector<ConservativeAdvancementStackData> fcl::MeshConservativeAdvancementTraversalNode< BV >::stack [mutable] |
Definition at line 838 of file traversal_node_bvhs.h.
| FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::t_err |
Definition at line 829 of file traversal_node_bvhs.h.
| FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::toc |
The time from beginning point.
Definition at line 828 of file traversal_node_bvhs.h.
| FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::w |
CA controlling variable: early stop for the early iterations of CA.
Definition at line 825 of file traversal_node_bvhs.h.
