bvh_shape_distance_traversal_node-inl.h
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35 
38 #ifndef FCL_TRAVERSAL_BVHSHAPEDISTANCETRAVERSALNODE_INL_H
39 #define FCL_TRAVERSAL_BVHSHAPEDISTANCETRAVERSALNODE_INL_H
40 
42 
43 #include "fcl/common/unused.h"
44 
45 namespace fcl
46 {
47 
48 namespace detail
49 {
50 
51 //==============================================================================
52 template<typename BV, typename Shape>
54  : DistanceTraversalNodeBase<typename BV::S>()
55 {
56  model1 = nullptr;
57  model2 = nullptr;
58 
59  num_bv_tests = 0;
60  num_leaf_tests = 0;
61  query_time_seconds = 0.0;
62 }
63 
64 //==============================================================================
65 template<typename BV, typename Shape>
67 {
68  return model1->getBV(b).isLeaf();
69 }
70 
71 //==============================================================================
72 template<typename BV, typename Shape>
74 {
75  return model1->getBV(b).leftChild();
76 }
77 
78 //==============================================================================
79 template<typename BV, typename Shape>
81 {
82  return model1->getBV(b).rightChild();
83 }
84 
85 //==============================================================================
86 template<typename BV, typename Shape>
88  int b1, int b2) const
89 {
90  FCL_UNUSED(b2);
91 
92  return model1->getBV(b1).bv.distance(model2_bv);
93 }
94 
95 } // namespace detail
96 } // namespace fcl
97 
98 #endif
fcl::detail::DistanceTraversalNodeBase
Node structure encoding the information required for distance traversal.
Definition: distance_traversal_node_base.h:53
fcl::detail::BVHShapeDistanceTraversalNode::BVHShapeDistanceTraversalNode
BVHShapeDistanceTraversalNode()
Definition: bvh_shape_distance_traversal_node-inl.h:53
unused.h
fcl::detail::BVHShapeDistanceTraversalNode
Traversal node for distance computation between BVH and shape.
Definition: bvh_shape_distance_traversal_node.h:52
bvh_shape_distance_traversal_node.h
FCL_UNUSED
#define FCL_UNUSED(x)
Definition: unused.h:39
fcl::detail::BVHShapeDistanceTraversalNode< OBBRSS< Shape::S >, Shape >::S
typename OBBRSS< Shape::S > ::S S
Definition: bvh_shape_distance_traversal_node.h:57
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Dec 5 2023 03:40:48