Traversal node for collision between mesh and shape. More...
#include <mesh_shape_collision_traversal_node.h>
Inheritance diagram for fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >:
Public Types | |
| using | S = typename BV::S |
 Public Types inherited from fcl::detail::BVHShapeCollisionTraversalNode< BV, Shape > | |
| using | S = typename BV::S |
Public Member Functions | |
| bool | canStop () const |
| Whether the traversal process can stop early. More... | |
| void | leafTesting (int b1, int b2) const |
| Intersection testing between leaves (one triangle and one shape) More... | |
| MeshShapeCollisionTraversalNode () | |
| Public Member Functions inherited from fcl::detail::BVHShapeCollisionTraversalNode< BV, Shape > | |
| BVHShapeCollisionTraversalNode () | |
| bool | BVTesting (int b1, int b2) const |
| BV culling test in one BVTT node. 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... | |
| bool | isFirstNodeLeaf (int b) const |
| Whether the BV node in the first BVH tree is leaf. More... | |
| Public Member Functions inherited from fcl::detail::CollisionTraversalNodeBase< BV::S > | |
| 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 | ~CollisionTraversalNodeBase () |
| Public Member Functions inherited from fcl::detail::TraversalNodeBase< BV::S > | |
| virtual bool | firstOverSecond (int b1, int b2) const |
| Traverse the subtree of the node in the first tree first. 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 | 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 | |
| S | cost_density |
| const NarrowPhaseSolver * | nsolver |
| Triangle * | tri_indices |
| Vector3< S > * | vertices |
| Public Attributes inherited from fcl::detail::BVHShapeCollisionTraversalNode< BV, Shape > | |
| const BVHModel< BV > * | model1 |
| const Shape * | model2 |
| BV | model2_bv |
| int | num_bv_tests |
| int | num_leaf_tests |
| S | query_time_seconds |
| Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< BV::S > | |
| bool | enable_statistics |
| Whether stores statistics. More... | |
| CollisionRequest< BV::S > | request |
| request setting for collision More... | |
| CollisionResult< BV::S > * | result |
| collision 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... | |
Detailed Description
template<typename BV, typename Shape, typename NarrowPhaseSolver>
class fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >
Traversal node for collision between mesh and shape.
Definition at line 52 of file mesh_shape_collision_traversal_node.h.
Member Typedef Documentation
◆ S
template<typename BV , typename Shape , typename NarrowPhaseSolver >
| using fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >::S = typename BV::S |
Definition at line 57 of file mesh_shape_collision_traversal_node.h.
Constructor & Destructor Documentation
◆ MeshShapeCollisionTraversalNode()
template<typename BV , typename Shape , typename NarrowPhaseSolver >
| fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >::MeshShapeCollisionTraversalNode |
Definition at line 53 of file mesh_shape_collision_traversal_node-inl.h.
Member Function Documentation
◆ canStop()
template<typename BV , typename Shape , typename NarrowPhaseSolver >
| bool fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >::canStop |
Whether the traversal process can stop early.
Definition at line 130 of file mesh_shape_collision_traversal_node-inl.h.
◆ leafTesting()
template<typename BV , typename Shape , typename NarrowPhaseSolver >
|
virtual |
Intersection testing between leaves (one triangle and one shape)
Reimplemented from fcl::detail::CollisionTraversalNodeBase< BV::S >.
Definition at line 64 of file mesh_shape_collision_traversal_node-inl.h.
Member Data Documentation
◆ cost_density
template<typename BV , typename Shape , typename NarrowPhaseSolver >
| S fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >::cost_density |
Definition at line 70 of file mesh_shape_collision_traversal_node.h.
◆ nsolver
template<typename BV , typename Shape , typename NarrowPhaseSolver >
| const NarrowPhaseSolver* fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >::nsolver |
Definition at line 72 of file mesh_shape_collision_traversal_node.h.
◆ tri_indices
template<typename BV , typename Shape , typename NarrowPhaseSolver >
| Triangle* fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >::tri_indices |
Definition at line 68 of file mesh_shape_collision_traversal_node.h.
◆ vertices
template<typename BV , typename Shape , typename NarrowPhaseSolver >
| Vector3<S>* fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >::vertices |
Definition at line 67 of file mesh_shape_collision_traversal_node.h.
The documentation for this class was generated from the following files: