fcl::OcTreeSolver< NarrowPhaseSolver > Class Template Reference

Algorithms for collision related with octree. More...

#include <traversal_node_octree.h>

List of all members.

Public Member Functions
template<typename BV >
void	MeshOcTreeDistance (const BVHModel< BV > *tree1, const OcTree *tree2, const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request_, DistanceResult &result_) const
	distance between mesh and octree
template<typename BV >
void	MeshOcTreeIntersect (const BVHModel< BV > *tree1, const OcTree *tree2, const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request_, CollisionResult &result_) const
	collision between mesh and octree
void	OcTreeDistance (const OcTree *tree1, const OcTree *tree2, const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request_, DistanceResult &result_) const
	distance between two octrees
void	OcTreeIntersect (const OcTree *tree1, const OcTree *tree2, const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request_, CollisionResult &result_) const
	collision between two octrees
template<typename BV >
void	OcTreeMeshDistance (const OcTree *tree1, const BVHModel< BV > *tree2, const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request_, DistanceResult &result_) const
	distance between octree and mesh
template<typename BV >
void	OcTreeMeshIntersect (const OcTree *tree1, const BVHModel< BV > *tree2, const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request_, CollisionResult &result_) const
	collision between octree and mesh
template<typename S >
void	OcTreeShapeDistance (const OcTree *tree, const S &s, const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request_, DistanceResult &result_) const
	distance between octree and shape
template<typename S >
void	OcTreeShapeIntersect (const OcTree *tree, const S &s, const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request_, CollisionResult &result_) const
	collision between octree and shape
	OcTreeSolver (const NarrowPhaseSolver *solver_)
template<typename S >
void	ShapeOcTreeDistance (const S &s, const OcTree *tree, const Transform3f &tf1, const Transform3f &tf2, const DistanceRequest &request_, DistanceResult &result_) const
	distance between shape and octree
template<typename S >
void	ShapeOcTreeIntersect (const S &s, const OcTree *tree, const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request_, CollisionResult &result_) const
	collision between shape and octree
Private Member Functions
bool	OcTreeDistanceRecurse (const OcTree *tree1, const OcTree::OcTreeNode *root1, const AABB &bv1, const OcTree *tree2, const OcTree::OcTreeNode *root2, const AABB &bv2, const Transform3f &tf1, const Transform3f &tf2) const
bool	OcTreeIntersectRecurse (const OcTree *tree1, const OcTree::OcTreeNode *root1, const AABB &bv1, const OcTree *tree2, const OcTree::OcTreeNode *root2, const AABB &bv2, const Transform3f &tf1, const Transform3f &tf2) const
template<typename BV >
bool	OcTreeMeshDistanceRecurse (const OcTree *tree1, const OcTree::OcTreeNode *root1, const AABB &bv1, const BVHModel< BV > *tree2, int root2, const Transform3f &tf1, const Transform3f &tf2) const
template<typename BV >
bool	OcTreeMeshIntersectRecurse (const OcTree *tree1, const OcTree::OcTreeNode *root1, const AABB &bv1, const BVHModel< BV > *tree2, int root2, const Transform3f &tf1, const Transform3f &tf2) const
template<typename S >
bool	OcTreeShapeDistanceRecurse (const OcTree *tree1, const OcTree::OcTreeNode *root1, const AABB &bv1, const S &s, const AABB &aabb2, const Transform3f &tf1, const Transform3f &tf2) const
template<typename S >
bool	OcTreeShapeIntersectRecurse (const OcTree *tree1, const OcTree::OcTreeNode *root1, const AABB &bv1, const S &s, const OBB &obb2, const Transform3f &tf1, const Transform3f &tf2) const
Private Attributes
const CollisionRequest *	crequest
CollisionResult *	cresult
const DistanceRequest *	drequest
DistanceResult *	dresult
const NarrowPhaseSolver *	solver

---

Detailed Description

template<typename NarrowPhaseSolver>
class fcl::OcTreeSolver< NarrowPhaseSolver >

Algorithms for collision related with octree.

Definition at line 52 of file traversal_node_octree.h.

---

Constructor & Destructor Documentation

template<typename NarrowPhaseSolver >

fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeSolver

(

const NarrowPhaseSolver *

solver_

)

[inline]

Definition at line 64 of file traversal_node_octree.h.

---

Member Function Documentation

template<typename NarrowPhaseSolver >

template<typename BV >

void fcl::OcTreeSolver< NarrowPhaseSolver >::MeshOcTreeDistance	(	const BVHModel< BV > *	tree1,
		const OcTree *	tree2,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		const DistanceRequest &	request_,
		DistanceResult &	result_
	)		const [inline]

distance between mesh and octree

Definition at line 148 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename BV >

void fcl::OcTreeSolver< NarrowPhaseSolver >::MeshOcTreeIntersect	(	const BVHModel< BV > *	tree1,
		const OcTree *	tree2,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		const CollisionRequest &	request_,
		CollisionResult &	result_
	)		const [inline]

collision between mesh and octree

Definition at line 132 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

void fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeDistance	(	const OcTree *	tree1,
		const OcTree *	tree2,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		const DistanceRequest &	request_,
		DistanceResult &	result_
	)		const [inline]

distance between two octrees

Definition at line 87 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

bool fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeDistanceRecurse	(	const OcTree *	tree1,
		const OcTree::OcTreeNode *	root1,
		const AABB &	bv1,
		const OcTree *	tree2,
		const OcTree::OcTreeNode *	root2,
		const AABB &	bv2,
		const Transform3f &	tf1,
		const Transform3f &	tf2
	)		const [inline, private]

Definition at line 698 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

void fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeIntersect	(	const OcTree *	tree1,
		const OcTree *	tree2,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		const CollisionRequest &	request_,
		CollisionResult &	result_
	)		const [inline]

collision between two octrees

Definition at line 73 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

bool fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeIntersectRecurse	(	const OcTree *	tree1,
		const OcTree::OcTreeNode *	root1,
		const AABB &	bv1,
		const OcTree *	tree2,
		const OcTree::OcTreeNode *	root2,
		const AABB &	bv2,
		const Transform3f &	tf1,
		const Transform3f &	tf2
	)		const [inline, private]

stop when 1) bounding boxes of two objects not overlap; OR 2) at least one of the nodes is free; OR 2) (two uncertain nodes OR one node occupied and one node uncertain) AND cost not required

Definition at line 778 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename BV >

void fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeMeshDistance	(	const OcTree *	tree1,
		const BVHModel< BV > *	tree2,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		const DistanceRequest &	request_,
		DistanceResult &	result_
	)		const [inline]

distance between octree and mesh

Definition at line 117 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename BV >

bool fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeMeshDistanceRecurse	(	const OcTree *	tree1,
		const OcTree::OcTreeNode *	root1,
		const AABB &	bv1,
		const BVHModel< BV > *	tree2,
		int	root2,
		const Transform3f &	tf1,
		const Transform3f &	tf2
	)		const [inline, private]

Definition at line 424 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename BV >

void fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeMeshIntersect	(	const OcTree *	tree1,
		const BVHModel< BV > *	tree2,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		const CollisionRequest &	request_,
		CollisionResult &	result_
	)		const [inline]

collision between octree and mesh

Definition at line 102 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename BV >

bool fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeMeshIntersectRecurse	(	const OcTree *	tree1,
		const OcTree::OcTreeNode *	root1,
		const AABB &	bv1,
		const BVHModel< BV > *	tree2,
		int	root2,
		const Transform3f &	tf1,
		const Transform3f &	tf2
	)		const [inline, private]

stop when 1) bounding boxes of two objects not overlap; OR 2) at least one of the nodes is free; OR 2) (two uncertain nodes OR one node occupied and one node uncertain) AND cost not required

Definition at line 510 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename S >

void fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeDistance	(	const OcTree *	tree,
		const S &	s,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		const DistanceRequest &	request_,
		DistanceResult &	result_
	)		const [inline]

distance between octree and shape

Definition at line 202 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename S >

bool fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeDistanceRecurse	(	const OcTree *	tree1,
		const OcTree::OcTreeNode *	root1,
		const AABB &	bv1,
		const S &	s,
		const AABB &	aabb2,
		const Transform3f &	tf1,
		const Transform3f &	tf2
	)		const [inline, private]

Definition at line 237 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename S >

void fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeIntersect	(	const OcTree *	tree,
		const S &	s,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		const CollisionRequest &	request_,
		CollisionResult &	result_
	)		const [inline]

collision between octree and shape

Definition at line 163 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename S >

bool fcl::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeIntersectRecurse	(	const OcTree *	tree1,
		const OcTree::OcTreeNode *	root1,
		const AABB &	bv1,
		const S &	s,
		const OBB &	obb2,
		const Transform3f &	tf1,
		const Transform3f &	tf2
	)		const [inline, private]

stop when 1) bounding boxes of two objects not overlap; OR 2) at least of one the nodes is free; OR 2) (two uncertain nodes or one node occupied and one node uncertain) AND cost not required

Definition at line 285 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename S >

void fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance	(	const S &	s,
		const OcTree *	tree,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		const DistanceRequest &	request_,
		DistanceResult &	result_
	)		const [inline]

distance between shape and octree

Definition at line 219 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

template<typename S >

void fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeIntersect	(	const S &	s,
		const OcTree *	tree,
		const Transform3f &	tf1,
		const Transform3f &	tf2,
		const CollisionRequest &	request_,
		CollisionResult &	result_
	)		const [inline]

collision between shape and octree

Definition at line 183 of file traversal_node_octree.h.

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Member Data Documentation

template<typename NarrowPhaseSolver >

const CollisionRequest* fcl::OcTreeSolver< NarrowPhaseSolver >::crequest [mutable, private]

Definition at line 57 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

CollisionResult* fcl::OcTreeSolver< NarrowPhaseSolver >::cresult [mutable, private]

Definition at line 60 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

const DistanceRequest* fcl::OcTreeSolver< NarrowPhaseSolver >::drequest [mutable, private]

Definition at line 58 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

DistanceResult* fcl::OcTreeSolver< NarrowPhaseSolver >::dresult [mutable, private]

Definition at line 61 of file traversal_node_octree.h.

template<typename NarrowPhaseSolver >

const NarrowPhaseSolver* fcl::OcTreeSolver< NarrowPhaseSolver >::solver [private]

Definition at line 55 of file traversal_node_octree.h.

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The documentation for this class was generated from the following file:

• traversal_node_octree.h