Traversal node for collision between two shapes. More...
#include <shape_collision_traversal_node.h>
Inheritance diagram for fcl::detail::ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver >:
Public Types | |
| using | S = typename Shape1::S |
Public Member Functions | |
| bool | BVTesting (int, int) const |
| BV culling test in one BVTT node. More... | |
| void | leafTesting (int, int) const |
| Intersection testing between leaves (two shapes) More... | |
| ShapeCollisionTraversalNode () | |
 Public Member Functions inherited from fcl::detail::CollisionTraversalNodeBase< Shape1::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< Shape1::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 | |
| S | cost_density |
| const Shape1 * | model1 |
| const Shape2 * | model2 |
| const NarrowPhaseSolver * | nsolver |
| Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< Shape1::S > | |
| bool | enable_statistics |
| Whether stores statistics. More... | |
| CollisionRequest< Shape1::S > | request |
| request setting for collision More... | |
| CollisionResult< Shape1::S > * | result |
| collision result kept during the traversal iteration More... | |
| Public Attributes inherited from fcl::detail::TraversalNodeBase< Shape1::S > | |
| Transform3< Shape1::S > | tf1 |
| configuation of first object More... | |
| Transform3< Shape1::S > | tf2 |
| configuration of second object More... | |
Detailed Description
template<typename Shape1, typename Shape2, typename NarrowPhaseSolver>
class fcl::detail::ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver >
Traversal node for collision between two shapes.
Definition at line 53 of file shape_collision_traversal_node.h.
Member Typedef Documentation
◆ S
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
| using fcl::detail::ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver >::S = typename Shape1::S |
Definition at line 58 of file shape_collision_traversal_node.h.
Constructor & Destructor Documentation
◆ ShapeCollisionTraversalNode()
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
| fcl::detail::ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver >::ShapeCollisionTraversalNode |
Definition at line 52 of file shape_collision_traversal_node-inl.h.
Member Function Documentation
◆ BVTesting()
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
|
virtual |
BV culling test in one BVTT node.
Reimplemented from fcl::detail::CollisionTraversalNodeBase< Shape1::S >.
Definition at line 64 of file shape_collision_traversal_node-inl.h.
◆ leafTesting()
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
|
virtual |
Intersection testing between leaves (two shapes)
Reimplemented from fcl::detail::CollisionTraversalNodeBase< Shape1::S >.
Definition at line 72 of file shape_collision_traversal_node-inl.h.
Member Data Documentation
◆ cost_density
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
| S fcl::detail::ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver >::cost_density |
Definition at line 71 of file shape_collision_traversal_node.h.
◆ model1
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
| const Shape1* fcl::detail::ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver >::model1 |
Definition at line 68 of file shape_collision_traversal_node.h.
◆ model2
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
| const Shape2* fcl::detail::ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver >::model2 |
Definition at line 69 of file shape_collision_traversal_node.h.
◆ nsolver
template<typename Shape1 , typename Shape2 , typename NarrowPhaseSolver >
| const NarrowPhaseSolver* fcl::detail::ShapeCollisionTraversalNode< Shape1, Shape2, NarrowPhaseSolver >::nsolver |
Definition at line 73 of file shape_collision_traversal_node.h.
The documentation for this class was generated from the following files: