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>
Public Types | |
| using | S = typename BV::S |
Public Member Functions | |
| S | distance (const BVNode &other, Vector3< S > *P1=nullptr, Vector3< S > *P2=nullptr) const |
| Compute the distance between two BVNode. P1 and P2, if not nullptr and the underlying BV supports distance, return the nearest points. More... | |
| Vector3< S > | getCenter () const |
| Access the center of the BV. More... | |
| Matrix3< S > | getOrientation () const |
| Access the orientation of the BV. More... | |
| bool | overlap (const BVNode &other) const |
| Check whether two BVNode collide. More... | |
 Public Member Functions inherited from fcl::BVNodeBase | |
| 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... | |
| 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 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... | |
| 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... | |
| int | num_primitives |
| The number of primitives belonging to the current node. More... | |
Detailed Description
template<typename BV>
struct 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.
Member Typedef Documentation
◆ S
| using fcl::BVNode< BV >::S = typename BV::S |
Member Function Documentation
◆ distance()
| BVNode< BV >::S fcl::BVNode< BV >::distance | ( | const BVNode< BV > & | other, |
| Vector3< S > * | P1 = nullptr, |
||
| Vector3< S > * | P2 = nullptr |
||
| ) | const |
Compute the distance between two BVNode. P1 and P2, if not nullptr and the underlying BV supports distance, return the nearest points.
Definition at line 55 of file BV_node-inl.h.
◆ getCenter()
| Vector3< typename BVNode< BV >::S > fcl::BVNode< BV >::getCenter |
Access the center of the BV.
Definition at line 63 of file BV_node-inl.h.
◆ getOrientation()
| Matrix3< typename BV::S > fcl::BVNode< BV >::getOrientation |
Access the orientation of the BV.
Definition at line 80 of file BV_node-inl.h.
◆ overlap()
| bool fcl::BVNode< BV >::overlap | ( | const BVNode< BV > & | other | ) | const |
Check whether two BVNode collide.
Definition at line 48 of file BV_node-inl.h.
Member Data Documentation
◆ bv
| BV fcl::BVNode< BV >::bv |
The documentation for this struct was generated from the following files: