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 <mesh_conservative_advancement_traversal_node.h>

Inheritance diagram for fcl::detail::MeshConservativeAdvancementTraversalNode< BV >:

[legend]

Public Types
using	S = typename BV::S

Public Types inherited from fcl::detail::MeshDistanceTraversalNode< BV >
using	S = typename BV::S

Public Types inherited from fcl::detail::BVHDistanceTraversalNode< BV >
using	S = typename BV::S

Public Member Functions
S	BVTesting (int b1, int b2) const
	BV culling test in one BVTT node. More...

bool	canStop (S c) const
	Whether the traversal process can stop early. More...

void	leafTesting (int b1, int b2) const
	Conservative advancement testing between leaves (two triangles) More...

	MeshConservativeAdvancementTraversalNode (S w_=1)

Public Member Functions inherited from fcl::detail::MeshDistanceTraversalNode< BV >
bool	canStop (S c) const
	Whether the traversal process can stop early. More...

void	leafTesting (int b1, int b2) const
	Distance testing between leaves (two triangles) More...

	MeshDistanceTraversalNode ()

Public Member Functions inherited from fcl::detail::BVHDistanceTraversalNode< BV >
	BVHDistanceTraversalNode ()

bool	firstOverSecond (int b1, int b2) const
	Determine the traversal order, is the first BVTT subtree better. More...

int	getFirstLeftChild (int b) const
	Obtain the left child of BV node in the first BVH. More...

int	getFirstRightChild (int b) const
	Obtain the right child of BV node in the first BVH. More...

int	getSecondLeftChild (int b) const
	Obtain the left child of BV node in the second BVH. More...

int	getSecondRightChild (int b) const
	Obtain the right child of BV node in the second BVH. More...

bool	isFirstNodeLeaf (int b) const
	Whether the BV node in the first BVH tree is leaf. More...

bool	isSecondNodeLeaf (int b) const
	Whether the BV node in the second BVH tree is leaf. More...

Public Member Functions inherited from fcl::detail::DistanceTraversalNodeBase< BV::S >
virtual bool	canStop (BV::S c) const
	Check whether the traversal can stop. More...

	DistanceTraversalNodeBase ()

void	enableStatistics (bool enable)
	Whether store some statistics information during traversal. More...

virtual	~DistanceTraversalNodeBase ()

Public Member Functions inherited from fcl::detail::TraversalNodeBase< BV::S >
virtual void	postprocess ()

virtual void	preprocess ()

virtual	~TraversalNodeBase ()

Public Attributes
Vector3< S >	closest_p1

Vector3< S >	closest_p2

S	delta_t
	The delta_t each step. More...

int	last_tri_id1

int	last_tri_id2

S	min_distance

const MotionBase< S > *	motion1
	Motions for the two objects in query. More...

const MotionBase< S > *	motion2

std::vector< ConservativeAdvancementStackData< S > >	stack

S	t_err

S	toc
	The time from beginning point. More...

S	w
	CA controlling variable: early stop for the early iterations of CA. More...

Public Attributes inherited from fcl::detail::MeshDistanceTraversalNode< BV >
S	abs_err

S	rel_err
	relative and absolute error, default value is 0.01 for both terms More...

Triangle *	tri_indices1

Triangle *	tri_indices2

Vector3< S > *	vertices1

Vector3< S > *	vertices2

Public Attributes inherited from fcl::detail::BVHDistanceTraversalNode< BV >
const BVHModel< BV > *	model1
	The first BVH model. More...

const BVHModel< BV > *	model2
	The second BVH model. More...

int	num_bv_tests
	statistical information More...

int	num_leaf_tests

S	query_time_seconds

Public Attributes inherited from fcl::detail::DistanceTraversalNodeBase< BV::S >
bool	enable_statistics
	Whether stores statistics. More...

DistanceRequest< BV::S >	request
	request setting for distance More...

DistanceResult< BV::S > *	result
	distance result kept during the traversal iteration More...

Public Attributes inherited from fcl::detail::TraversalNodeBase< BV::S >
Transform3< BV::S >	tf1
	configuation of first object More...

Transform3< BV::S >	tf2
	configuration of second object More...

Friends
template<typename , typename >
struct	CanStopImpl

Detailed Description

template<typename BV>
class fcl::detail::MeshConservativeAdvancementTraversalNode< BV >

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 53 of file mesh_conservative_advancement_traversal_node.h.