Struct BVNodeBase

Defined in File BV_node.h

Inheritance Relationships

Derived Type

public hpp::fcl::BVNode< BV > (Template Struct BVNode)

Struct Documentation

struct BVNodeBase

BVNodeBase encodes the tree structure for BVH.

Subclassed by hpp::fcl::BVNode< BV >

Public Functions

inline BVNodeBase(): Default constructor.

inline bool operator==(const BVNodeBase &other) const: Equality operator.

inline bool operator!=(const BVNodeBase &other) const: Difference operator.

inline bool isLeaf() const: Whether current node is a leaf node (i.e. contains a primitive index.

inline int primitiveId() const: Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel.

inline int leftChild() const: Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

inline int rightChild() const: Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

Public Members

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.

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.

unsigned int num_primitives: The number of primitives belonging to the current node.