bvh_collision_traversal_node.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_TRAVERSAL_BVHCOLLISIONTRAVERSALNODE_H
39 #define FCL_TRAVERSAL_BVHCOLLISIONTRAVERSALNODE_H
40 
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
51 template <typename BV>
52 class FCL_EXPORT BVHCollisionTraversalNode
53  : public CollisionTraversalNodeBase<typename BV::S>
54 {
55 public:
56 
57  using S = typename BV::S;
58 
60 
62  bool isFirstNodeLeaf(int b) const;
63 
65  bool isSecondNodeLeaf(int b) const;
66 
68  bool firstOverSecond(int b1, int b2) const;
69 
71  int getFirstLeftChild(int b) const;
72 
74  int getFirstRightChild(int b) const;
75 
77  int getSecondLeftChild(int b) const;
78 
80  int getSecondRightChild(int b) const;
81 
83  bool BVTesting(int b1, int b2) const;
84 
87 
90 
92  mutable int num_bv_tests;
93  mutable int num_leaf_tests;
95 };
96 
97 } // namespace detail
98 } // namespace fcl
99 
101 
102 #endif
fcl::detail::BVHCollisionTraversalNode::num_leaf_tests
int num_leaf_tests
Definition: bvh_collision_traversal_node.h:93
fcl::detail::BVHCollisionTraversalNode< OBB< S > >::S
typename OBB< S > ::S S
Definition: bvh_collision_traversal_node.h:57
BVH_model.h
bvh_collision_traversal_node-inl.h
fcl::detail::BVHCollisionTraversalNode::model2
const BVHModel< BV > * model2
The second BVH model.
Definition: bvh_collision_traversal_node.h:89
fcl::detail::BVHCollisionTraversalNode::model1
const BVHModel< BV > * model1
The first BVH model.
Definition: bvh_collision_traversal_node.h:86
fcl::detail::BVHCollisionTraversalNode::num_bv_tests
int num_bv_tests
statistical information
Definition: bvh_collision_traversal_node.h:92
fcl::detail::CollisionTraversalNodeBase
Node structure encoding the information required for collision traversal.
Definition: collision_traversal_node_base.h:52
fcl::BVHModel
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:57
fcl::detail::BVHCollisionTraversalNode
Traversal node for collision between BVH models.
Definition: bvh_collision_traversal_node.h:52
fcl::detail::BVHCollisionTraversalNode::query_time_seconds
S query_time_seconds
Definition: bvh_collision_traversal_node.h:94
collision_traversal_node_base.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
Author(s):
autogenerated on Fri Jun 11 2021 02:38:02