Node structure encoding the information required for collision traversal. More...
#include <collision_traversal_node_base.h>
Public Member Functions | |
| virtual bool | BVTesting (int b1, int b2) const |
| BV test between b1 and b2. More... | |
| virtual bool | canStop () const |
| Check whether the traversal can stop. More... | |
| CollisionTraversalNodeBase () | |
| void | enableStatistics (bool enable) |
| Whether store some statistics information during traversal. More... | |
| virtual void | leafTesting (int b1, int b2) const |
| Leaf test between node b1 and b2, if they are both leafs. More... | |
| virtual | ~CollisionTraversalNodeBase () |
 Public Member Functions inherited from fcl::detail::TraversalNodeBase< S > | |
| virtual bool | firstOverSecond (int b1, int b2) const |
| Traverse the subtree of the node in the first tree first. More... | |
| virtual int | getFirstLeftChild (int b) const |
| Get the left child of the node b in the first tree. More... | |
| virtual int | getFirstRightChild (int b) const |
| Get the right child of the node b in the first tree. More... | |
| virtual int | getSecondLeftChild (int b) const |
| Get the left child of the node b in the second tree. More... | |
| virtual int | getSecondRightChild (int b) const |
| Get the right child of the node b in the second tree. More... | |
| virtual bool | isFirstNodeLeaf (int b) const |
| Whether b is a leaf node in the first BVH tree. More... | |
| virtual bool | isSecondNodeLeaf (int b) const |
| Whether b is a leaf node in the second BVH tree. More... | |
| virtual void | postprocess () |
| virtual void | preprocess () |
| virtual | ~TraversalNodeBase () |
Public Attributes | |
| bool | enable_statistics |
| Whether stores statistics. More... | |
| CollisionRequest< S > | request |
| request setting for collision More... | |
| CollisionResult< S > * | result |
| collision result kept during the traversal iteration More... | |
| Public Attributes inherited from fcl::detail::TraversalNodeBase< S > | |
| Transform3< S > | tf1 |
| configuation of first object More... | |
| Transform3< S > | tf2 |
| configuration of second object More... | |
Detailed Description
template<typename S>
class fcl::detail::CollisionTraversalNodeBase< S >
Node structure encoding the information required for collision traversal.
Definition at line 52 of file collision_traversal_node_base.h.
Constructor & Destructor Documentation
◆ CollisionTraversalNodeBase()
| fcl::detail::CollisionTraversalNodeBase< S >::CollisionTraversalNodeBase |
Definition at line 57 of file collision_traversal_node_base-inl.h.
◆ ~CollisionTraversalNodeBase()
|
virtual |
Definition at line 65 of file collision_traversal_node_base-inl.h.
Member Function Documentation
◆ BVTesting()
|
virtual |
BV test between b1 and b2.
Reimplemented in fcl::detail::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::detail::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::detail::OcTreeShapeCollisionTraversalNode< Shape, NarrowPhaseSolver >, fcl::detail::ShapeOcTreeCollisionTraversalNode< Shape, NarrowPhaseSolver >, fcl::detail::OcTreeCollisionTraversalNode< NarrowPhaseSolver >, fcl::detail::ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver >, fcl::detail::MeshCollisionTraversalNodeOBBRSS< S >, fcl::detail::MeshShapeCollisionTraversalNodeOBBRSS< Shape, NarrowPhaseSolver >, fcl::detail::MeshCollisionTraversalNodekIOS< S >, fcl::detail::ShapeMeshCollisionTraversalNodeOBBRSS< Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNodekIOS< Shape, NarrowPhaseSolver >, fcl::detail::ShapeMeshCollisionTraversalNodekIOS< Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNodeRSS< Shape, NarrowPhaseSolver >, fcl::detail::MeshCollisionTraversalNodeRSS< S >, fcl::detail::ShapeMeshCollisionTraversalNodeRSS< Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >, fcl::detail::MeshCollisionTraversalNodeOBB< S >, fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >, fcl::detail::BVHCollisionTraversalNode< BV >, fcl::detail::BVHCollisionTraversalNode< kIOS< S > >, fcl::detail::BVHCollisionTraversalNode< OBBRSS< S > >, fcl::detail::BVHCollisionTraversalNode< RSS< S > >, fcl::detail::BVHCollisionTraversalNode< OBB< S > >, fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >, fcl::detail::ShapeBVHCollisionTraversalNode< Shape, OBBRSS< Shape::S > >, fcl::detail::ShapeBVHCollisionTraversalNode< Shape, OBB< Shape::S > >, fcl::detail::ShapeBVHCollisionTraversalNode< Shape, RSS< Shape::S > >, fcl::detail::ShapeBVHCollisionTraversalNode< Shape, kIOS< Shape::S > >, fcl::detail::BVHShapeCollisionTraversalNode< BV, Shape >, fcl::detail::BVHShapeCollisionTraversalNode< kIOS< Shape::S >, Shape >, fcl::detail::BVHShapeCollisionTraversalNode< RSS< Shape::S >, Shape >, fcl::detail::BVHShapeCollisionTraversalNode< OBBRSS< Shape::S >, Shape >, and fcl::detail::BVHShapeCollisionTraversalNode< OBB< Shape::S >, Shape >.
Definition at line 72 of file collision_traversal_node_base-inl.h.
◆ canStop()
|
virtual |
Check whether the traversal can stop.
Reimplemented in fcl::detail::MeshCollisionTraversalNode< kIOS< S > >, fcl::detail::MeshCollisionTraversalNode< OBBRSS< S > >, fcl::detail::MeshCollisionTraversalNode< RSS< S > >, fcl::detail::MeshCollisionTraversalNode< OBB< S > >, fcl::detail::MeshShapeCollisionTraversalNode< OBBRSS< Shape::S >, Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNode< OBB< Shape::S >, Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNode< RSS< Shape::S >, Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNode< kIOS< Shape::S >, Shape, NarrowPhaseSolver >, fcl::detail::ShapeMeshCollisionTraversalNode< Shape, RSS< Shape::S >, NarrowPhaseSolver >, fcl::detail::ShapeMeshCollisionTraversalNode< Shape, OBB< Shape::S >, NarrowPhaseSolver >, fcl::detail::ShapeMeshCollisionTraversalNode< Shape, OBBRSS< Shape::S >, NarrowPhaseSolver >, and fcl::detail::ShapeMeshCollisionTraversalNode< Shape, kIOS< Shape::S >, NarrowPhaseSolver >.
Definition at line 92 of file collision_traversal_node_base-inl.h.
◆ enableStatistics()
|
virtual |
Whether store some statistics information during traversal.
Implements fcl::detail::TraversalNodeBase< S >.
Definition at line 99 of file collision_traversal_node_base-inl.h.
◆ leafTesting()
|
virtual |
Leaf test between node b1 and b2, if they are both leafs.
Reimplemented in fcl::detail::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::detail::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >, fcl::detail::OcTreeShapeCollisionTraversalNode< Shape, NarrowPhaseSolver >, fcl::detail::ShapeOcTreeCollisionTraversalNode< Shape, NarrowPhaseSolver >, fcl::detail::OcTreeCollisionTraversalNode< NarrowPhaseSolver >, fcl::detail::ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver >, fcl::detail::MeshCollisionTraversalNodeOBBRSS< S >, fcl::detail::MeshShapeCollisionTraversalNodeOBBRSS< Shape, NarrowPhaseSolver >, fcl::detail::MeshCollisionTraversalNodekIOS< S >, fcl::detail::ShapeMeshCollisionTraversalNodeOBBRSS< Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNodekIOS< Shape, NarrowPhaseSolver >, fcl::detail::ShapeMeshCollisionTraversalNodekIOS< Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNodeRSS< Shape, NarrowPhaseSolver >, fcl::detail::MeshCollisionTraversalNodeRSS< S >, fcl::detail::ShapeMeshCollisionTraversalNodeRSS< Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >, fcl::detail::MeshCollisionTraversalNodeOBB< S >, fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >, fcl::detail::MeshContinuousCollisionTraversalNode< BV >, fcl::detail::MeshCollisionTraversalNode< BV >, fcl::detail::MeshCollisionTraversalNode< kIOS< S > >, fcl::detail::MeshCollisionTraversalNode< OBBRSS< S > >, fcl::detail::MeshCollisionTraversalNode< RSS< S > >, fcl::detail::MeshCollisionTraversalNode< OBB< S > >, fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNode< OBBRSS< Shape::S >, Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNode< OBB< Shape::S >, Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNode< RSS< Shape::S >, Shape, NarrowPhaseSolver >, fcl::detail::MeshShapeCollisionTraversalNode< kIOS< Shape::S >, Shape, NarrowPhaseSolver >, fcl::detail::ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver >, fcl::detail::ShapeMeshCollisionTraversalNode< Shape, RSS< Shape::S >, NarrowPhaseSolver >, fcl::detail::ShapeMeshCollisionTraversalNode< Shape, OBB< Shape::S >, NarrowPhaseSolver >, fcl::detail::ShapeMeshCollisionTraversalNode< Shape, OBBRSS< Shape::S >, NarrowPhaseSolver >, and fcl::detail::ShapeMeshCollisionTraversalNode< Shape, kIOS< Shape::S >, NarrowPhaseSolver >.
Definition at line 82 of file collision_traversal_node_base-inl.h.
Member Data Documentation
◆ enable_statistics
| bool fcl::detail::CollisionTraversalNodeBase< S >::enable_statistics |
Whether stores statistics.
Definition at line 78 of file collision_traversal_node_base.h.
◆ request
| CollisionRequest<S> fcl::detail::CollisionTraversalNodeBase< S >::request |
request setting for collision
Definition at line 72 of file collision_traversal_node_base.h.
◆ result
| CollisionResult<S>* fcl::detail::CollisionTraversalNodeBase< S >::result |
collision result kept during the traversal iteration
Definition at line 75 of file collision_traversal_node_base.h.
The documentation for this class was generated from the following files: