Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...

#include <shape_mesh_collision_traversal_node.h>

Inheritance diagram for fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >:

[legend]

Public Member Functions
bool	BVTesting (int b1, int b2) const
	BV test between b1 and b2. More...

void	leafTesting (int b1, int b2) const
	Leaf test between node b1 and b2, if they are both leafs. More...

	ShapeMeshCollisionTraversalNodeOBB ()

Public Member Functions inherited from fcl::detail::ShapeMeshCollisionTraversalNode< Shape, OBB< Shape::S >, NarrowPhaseSolver >
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, OBB< Shape::S > >
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< OBB< Shape::S > ::S >
	CollisionTraversalNodeBase ()

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

virtual	~CollisionTraversalNodeBase ()

Public Member Functions inherited from fcl::detail::TraversalNodeBase< OBB< Shape::S > ::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 ()

Additional Inherited Members
Public Types inherited from fcl::detail::ShapeMeshCollisionTraversalNode< Shape, OBB< Shape::S >, NarrowPhaseSolver >
using	S = typename OBB< Shape::S > ::S

Public Types inherited from fcl::detail::ShapeBVHCollisionTraversalNode< Shape, OBB< Shape::S > >
using	S = typename OBB< Shape::S > ::S

Public Attributes inherited from fcl::detail::ShapeMeshCollisionTraversalNode< Shape, OBB< Shape::S >, NarrowPhaseSolver >
S	cost_density

const NarrowPhaseSolver *	nsolver

Triangle *	tri_indices

Vector3< S > *	vertices

Public Attributes inherited from fcl::detail::ShapeBVHCollisionTraversalNode< Shape, OBB< Shape::S > >
const Shape *	model1

OBB< Shape::S >	model1_bv

const BVHModel< OBB< Shape::S > > *	model2

int	num_bv_tests

int	num_leaf_tests

S	query_time_seconds

Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< OBB< Shape::S > ::S >
bool	enable_statistics
	Whether stores statistics. More...

CollisionRequest< OBB< Shape::S > ::S >	request
	request setting for collision More...

CollisionResult< OBB< Shape::S > ::S > *	result
	collision result kept during the traversal iteration More...

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

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

Detailed Description

template<typename Shape, typename NarrowPhaseSolver>
class fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >

Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)

Definition at line 91 of file shape_mesh_collision_traversal_node.h.

Constructor & Destructor Documentation

◆ ShapeMeshCollisionTraversalNodeOBB()

template<typename Shape , typename NarrowPhaseSolver >

FCL_EXPORT fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >::ShapeMeshCollisionTraversalNodeOBB

Definition at line 199 of file shape_mesh_collision_traversal_node-inl.h.

Member Function Documentation

◆ BVTesting()

template<typename Shape , typename NarrowPhaseSolver >

FCL_EXPORT bool fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >::BVTesting	(	int	b1,
		int	b2
	)		const

virtual

BV test between b1 and b2.

Reimplemented from fcl::detail::CollisionTraversalNodeBase< OBB< Shape::S > ::S >.

Definition at line 206 of file shape_mesh_collision_traversal_node-inl.h.

◆ leafTesting()

template<typename Shape , typename NarrowPhaseSolver >

FCL_EXPORT void fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >::leafTesting	(	int	b1,
		int	b2
	)		const

virtual

Leaf test between node b1 and b2, if they are both leafs.

Reimplemented from fcl::detail::CollisionTraversalNodeBase< OBB< Shape::S > ::S >.

Definition at line 217 of file shape_mesh_collision_traversal_node-inl.h.

The documentation for this class was generated from the following files:

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename Shape, typename NarrowPhaseSolver> class fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >

Constructor & Destructor Documentation

◆ ShapeMeshCollisionTraversalNodeOBB()

Member Function Documentation

◆ BVTesting()

◆ leafTesting()

template<typename Shape, typename NarrowPhaseSolver>
class fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >