bvh_shape_distance_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_BVHSHAPEDISTANCETRAVERSALNODE_H
39 #define FCL_TRAVERSAL_BVHSHAPEDISTANCETRAVERSALNODE_H
40 
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
51 template<typename BV, typename Shape>
53  : public DistanceTraversalNodeBase<typename BV::S>
54 {
55 public:
56 
57  using S = typename BV::S;
58 
60 
62  bool isFirstNodeLeaf(int b) const;
63 
65  int getFirstLeftChild(int b) const;
66 
68  int getFirstRightChild(int b) const;
69 
71  S BVTesting(int b1, int b2) const;
72 
74  const Shape* model2;
76 
77  mutable int num_bv_tests;
78  mutable int num_leaf_tests;
80 };
81 
82 } // namespace detail
83 } // namespace fcl
84 
86 
87 #endif
fcl::detail::DistanceTraversalNodeBase
Node structure encoding the information required for distance traversal.
Definition: distance_traversal_node_base.h:53
BVH_model.h
fcl::detail::BVHShapeDistanceTraversalNode::model2_bv
BV model2_bv
Definition: bvh_shape_distance_traversal_node.h:75
fcl::detail::BVHShapeDistanceTraversalNode::model2
const Shape * model2
Definition: bvh_shape_distance_traversal_node.h:74
fcl::detail::BVHShapeDistanceTraversalNode::num_leaf_tests
int num_leaf_tests
Definition: bvh_shape_distance_traversal_node.h:78
fcl::detail::BVHShapeDistanceTraversalNode::num_bv_tests
int num_bv_tests
Definition: bvh_shape_distance_traversal_node.h:77
fcl::detail::BVHShapeDistanceTraversalNode
Traversal node for distance computation between BVH and shape.
Definition: bvh_shape_distance_traversal_node.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
distance_traversal_node_base.h
fcl::detail::BVHShapeDistanceTraversalNode< OBBRSS< Shape::S >, Shape >::S
typename OBBRSS< Shape::S > ::S S
Definition: bvh_shape_distance_traversal_node.h:57
fcl::detail::BVHShapeDistanceTraversalNode::model1
const BVHModel< BV > * model1
Definition: bvh_shape_distance_traversal_node.h:73
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
bvh_shape_distance_traversal_node-inl.h
fcl::detail::BVHShapeDistanceTraversalNode::query_time_seconds
S query_time_seconds
Definition: bvh_shape_distance_traversal_node.h:79


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autogenerated on Tue Dec 5 2023 03:40:48