Traversal node for collision between shape and mesh. More...
#include <shape_mesh_collision_traversal_node.h>
Inheritance diagram for fcl::detail::ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver >:
Public Types | |
| using | S = typename BV::S |
 Public Types inherited from fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV > | |
| 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 shape and one triangle) More... | |
| ShapeMeshCollisionTraversalNode () | |
| Public Member Functions inherited from fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV > | |
| bool | BVTesting (int b1, int b2) const |
| BV culling test in one BVTT node. More... | |
| bool | firstOverSecond (int, int) const |
| Alway extend the second model, which is a BVH model. 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 | isSecondNodeLeaf (int b) const |
| Whether the BV node in the second BVH tree is leaf. More... | |
| ShapeBVHCollisionTraversalNode () | |
| 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 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 bool | isFirstNodeLeaf (int b) const |
| Whether b is a leaf node in the first 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::ShapeBVHCollisionTraversalNode< Shape, BV > | |
| const Shape * | model1 |
| BV | model1_bv |
| const BVHModel< BV > * | model2 |
| 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 Shape, typename BV, typename NarrowPhaseSolver>
class fcl::detail::ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver >
Traversal node for collision between shape and mesh.
Definition at line 52 of file shape_mesh_collision_traversal_node.h.
Member Typedef Documentation
◆ S
template<typename Shape , typename BV , typename NarrowPhaseSolver >
| using fcl::detail::ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver >::S = typename BV::S |
Definition at line 56 of file shape_mesh_collision_traversal_node.h.
Constructor & Destructor Documentation
◆ ShapeMeshCollisionTraversalNode()
template<typename Shape , typename BV , typename NarrowPhaseSolver >
| FCL_EXPORT fcl::detail::ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver >::ShapeMeshCollisionTraversalNode |
Definition at line 54 of file shape_mesh_collision_traversal_node-inl.h.
Member Function Documentation
◆ canStop()
template<typename Shape , typename BV , typename NarrowPhaseSolver >
| FCL_EXPORT bool fcl::detail::ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver >::canStop |
Whether the traversal process can stop early.
Definition at line 135 of file shape_mesh_collision_traversal_node-inl.h.
◆ leafTesting()
template<typename Shape , typename BV , typename NarrowPhaseSolver >
|
virtual |
Intersection testing between leaves (one shape and one triangle)
Reimplemented from fcl::detail::CollisionTraversalNodeBase< BV::S >.
Definition at line 66 of file shape_mesh_collision_traversal_node-inl.h.
Member Data Documentation
◆ cost_density
template<typename Shape , typename BV , typename NarrowPhaseSolver >
| S fcl::detail::ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver >::cost_density |
Definition at line 69 of file shape_mesh_collision_traversal_node.h.
◆ nsolver
template<typename Shape , typename BV , typename NarrowPhaseSolver >
| const NarrowPhaseSolver* fcl::detail::ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver >::nsolver |
Definition at line 71 of file shape_mesh_collision_traversal_node.h.
◆ tri_indices
template<typename Shape , typename BV , typename NarrowPhaseSolver >
| Triangle* fcl::detail::ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver >::tri_indices |
Definition at line 67 of file shape_mesh_collision_traversal_node.h.
◆ vertices
template<typename Shape , typename BV , typename NarrowPhaseSolver >
| Vector3<S>* fcl::detail::ShapeMeshCollisionTraversalNode< Shape, BV, NarrowPhaseSolver >::vertices |
Definition at line 66 of file shape_mesh_collision_traversal_node.h.
The documentation for this class was generated from the following files: