Traversal node for conservative advancement computation between BVH and shape. More...

#include <mesh_shape_conservative_advancement_traversal_node.h>

Inheritance diagram for fcl::detail::MeshShapeConservativeAdvancementTraversalNode< BV, Shape, NarrowPhaseSolver >:

[legend]

Public Types
using	S = typename BV::S

Public Types inherited from fcl::detail::MeshShapeDistanceTraversalNode< BV, Shape, NarrowPhaseSolver >
using	S = typename BV::S

Public Types inherited from fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >
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 (one triangle and one shape) More...

	MeshShapeConservativeAdvancementTraversalNode (S w_=1)

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

void	leafTesting (int b1, int b2) const
	Distance testing between leaves (one triangle and one shape) More...

	MeshShapeDistanceTraversalNode ()

Public Member Functions inherited from fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >
	BVHShapeDistanceTraversalNode ()

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::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 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
Vector3< S >	closest_p1

Vector3< S >	closest_p2

S	delta_t
	The delta_t each step. More...

int	last_tri_id

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::MeshShapeDistanceTraversalNode< BV, Shape, NarrowPhaseSolver >
S	abs_err

const NarrowPhaseSolver *	nsolver

S	rel_err

Triangle *	tri_indices

Vector3< S > *	vertices

Public Attributes inherited from fcl::detail::BVHShapeDistanceTraversalNode< 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::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...

Detailed Description

template<typename BV, typename Shape, typename NarrowPhaseSolver>
class fcl::detail::MeshShapeConservativeAdvancementTraversalNode< BV, Shape, NarrowPhaseSolver >

Traversal node for conservative advancement computation between BVH and shape.

Definition at line 52 of file mesh_shape_conservative_advancement_traversal_node.h.

Member Typedef Documentation

◆ S

template<typename BV , typename Shape , typename NarrowPhaseSolver >

using fcl::detail::MeshShapeConservativeAdvancementTraversalNode< BV, Shape, NarrowPhaseSolver >::S = typename BV::S

Definition at line 57 of file mesh_shape_conservative_advancement_traversal_node.h.

Constructor & Destructor Documentation

◆ MeshShapeConservativeAdvancementTraversalNode()

template<typename BV , typename Shape , typename NarrowPhaseSolver >

fcl::detail::MeshShapeConservativeAdvancementTraversalNode< BV, Shape, NarrowPhaseSolver >::MeshShapeConservativeAdvancementTraversalNode ( S w_ = 1 )