Algorithms for collision related with octree. More...

#include <octree_solver.h>

Public Member Functions
template<typename BV >
void	MeshOcTreeDistance (const BVHModel< BV > tree1, const OcTree< S > tree2, const Transform3< S > &tf1, const Transform3< S > &tf2, const DistanceRequest< S > &request_, DistanceResult< S > &result_) const
	distance between mesh and octree More...

template<typename BV >
void	MeshOcTreeIntersect (const BVHModel< BV > tree1, const OcTree< S > tree2, const Transform3< S > &tf1, const Transform3< S > &tf2, const CollisionRequest< S > &request_, CollisionResult< S > &result_) const
	collision between mesh and octree More...

void	OcTreeDistance (const OcTree< S > tree1, const OcTree< S > tree2, const Transform3< S > &tf1, const Transform3< S > &tf2, const DistanceRequest< S > &request_, DistanceResult< S > &result_) const
	distance between two octrees More...

void	OcTreeIntersect (const OcTree< S > tree1, const OcTree< S > tree2, const Transform3< S > &tf1, const Transform3< S > &tf2, const CollisionRequest< S > &request_, CollisionResult< S > &result_) const
	collision between two octrees More...

template<typename BV >
void	OcTreeMeshDistance (const OcTree< S > tree1, const BVHModel< BV > tree2, const Transform3< S > &tf1, const Transform3< S > &tf2, const DistanceRequest< S > &request_, DistanceResult< S > &result_) const
	distance between octree and mesh More...

template<typename BV >
void	OcTreeMeshIntersect (const OcTree< S > tree1, const BVHModel< BV > tree2, const Transform3< S > &tf1, const Transform3< S > &tf2, const CollisionRequest< S > &request_, CollisionResult< S > &result_) const
	collision between octree and mesh More...

template<typename Shape >
void	OcTreeShapeDistance (const OcTree< S > *tree, const Shape &s, const Transform3< S > &tf1, const Transform3< S > &tf2, const DistanceRequest< S > &request_, DistanceResult< S > &result_) const
	distance between octree and shape More...

template<typename Shape >
void	OcTreeShapeIntersect (const OcTree< S > *tree, const Shape &s, const Transform3< S > &tf1, const Transform3< S > &tf2, const CollisionRequest< S > &request_, CollisionResult< S > &result_) const
	collision between octree and shape More...

	OcTreeSolver (const NarrowPhaseSolver *solver_)

template<typename Shape >
void	ShapeOcTreeDistance (const Shape &s, const OcTree< S > *tree, const Transform3< S > &tf1, const Transform3< S > &tf2, const DistanceRequest< S > &request_, DistanceResult< S > &result_) const
	distance between shape and octree More...

template<typename Shape >
void	ShapeOcTreeIntersect (const Shape &s, const OcTree< S > *tree, const Transform3< S > &tf1, const Transform3< S > &tf2, const CollisionRequest< S > &request_, CollisionResult< S > &result_) const
	collision between shape and octree More...

Private Types
using	S = typename NarrowPhaseSolver::S

Private Member Functions
bool	OcTreeDistanceRecurse (const OcTree< S > tree1, const typename OcTree< S >::OcTreeNode root1, const AABB< S > &bv1, const OcTree< S > tree2, const typename OcTree< S >::OcTreeNode root2, const AABB< S > &bv2, const Transform3< S > &tf1, const Transform3< S > &tf2) const

bool	OcTreeIntersectRecurse (const OcTree< S > tree1, const typename OcTree< S >::OcTreeNode root1, const AABB< S > &bv1, const OcTree< S > tree2, const typename OcTree< S >::OcTreeNode root2, const AABB< S > &bv2, const Transform3< S > &tf1, const Transform3< S > &tf2) const

template<typename BV >
bool	OcTreeMeshDistanceRecurse (const OcTree< S > tree1, const typename OcTree< S >::OcTreeNode root1, const AABB< S > &bv1, const BVHModel< BV > *tree2, int root2, const Transform3< S > &tf1, const Transform3< S > &tf2) const

template<typename BV >
bool	OcTreeMeshIntersectRecurse (const OcTree< S > tree1, const typename OcTree< S >::OcTreeNode root1, const AABB< S > &bv1, const BVHModel< BV > *tree2, int root2, const Transform3< S > &tf1, const Transform3< S > &tf2) const

template<typename Shape >
bool	OcTreeShapeDistanceRecurse (const OcTree< S > tree1, const typename OcTree< S >::OcTreeNode root1, const AABB< S > &bv1, const Shape &s, const AABB< S > &aabb2, const Transform3< S > &tf1, const Transform3< S > &tf2) const

template<typename Shape >
bool	OcTreeShapeIntersectRecurse (const OcTree< S > tree1, const typename OcTree< S >::OcTreeNode root1, const AABB< S > &bv1, const Shape &s, const OBB< S > &obb2, const Transform3< S > &tf1, const Transform3< S > &tf2) const

Private Attributes
const CollisionRequest< S > *	crequest

CollisionResult< S > *	cresult

const DistanceRequest< S > *	drequest

DistanceResult< S > *	dresult

const NarrowPhaseSolver *	solver

Detailed Description

template<typename NarrowPhaseSolver>
class fcl::detail::OcTreeSolver< NarrowPhaseSolver >

Algorithms for collision related with octree.

Definition at line 59 of file octree_solver.h.

Member Typedef Documentation

◆ S

template<typename NarrowPhaseSolver >

using fcl::detail::OcTreeSolver< NarrowPhaseSolver >::S = typename NarrowPhaseSolver::S

private

Definition at line 63 of file octree_solver.h.

Constructor & Destructor Documentation

◆ OcTreeSolver()

template<typename NarrowPhaseSolver >

fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeSolver ( const NarrowPhaseSolver * solver_ )

Definition at line 53 of file octree_solver-inl.h.

Member Function Documentation

◆ MeshOcTreeDistance()

template<typename NarrowPhaseSolver >

template<typename BV >

void fcl::detail::OcTreeSolver< NarrowPhaseSolver >::MeshOcTreeDistance	(	const BVHModel< BV > *	tree1,
		const OcTree< S > *	tree2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2,
		const DistanceRequest< S > &	request_,
		DistanceResult< S > &	result_
	)		const

distance between mesh and octree

Definition at line 162 of file octree_solver-inl.h.

◆ MeshOcTreeIntersect()

template<typename NarrowPhaseSolver >

template<typename BV >

void fcl::detail::OcTreeSolver< NarrowPhaseSolver >::MeshOcTreeIntersect	(	const BVHModel< BV > *	tree1,
		const OcTree< S > *	tree2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2,
		const CollisionRequest< S > &	request_,
		CollisionResult< S > &	result_
	)		const

collision between mesh and octree

Definition at line 141 of file octree_solver-inl.h.

◆ OcTreeDistance()

template<typename NarrowPhaseSolver >

void fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeDistance	(	const OcTree< S > *	tree1,
		const OcTree< S > *	tree2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2,
		const DistanceRequest< S > &	request_,
		DistanceResult< S > &	result_
	)		const

distance between two octrees

Definition at line 84 of file octree_solver-inl.h.

◆ OcTreeDistanceRecurse()

template<typename NarrowPhaseSolver >

bool fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeDistanceRecurse	(	const OcTree< S > *	tree1,
		const typename OcTree< S >::OcTreeNode *	root1,
		const AABB< S > &	bv1,
		const OcTree< S > *	tree2,
		const typename OcTree< S >::OcTreeNode *	root2,
		const AABB< S > &	bv2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2
	)		const

private

Definition at line 765 of file octree_solver-inl.h.

◆ OcTreeIntersect()

template<typename NarrowPhaseSolver >

void fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeIntersect	(	const OcTree< S > *	tree1,
		const OcTree< S > *	tree2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2,
		const CollisionRequest< S > &	request_,
		CollisionResult< S > &	result_
	)		const

collision between two octrees

Definition at line 66 of file octree_solver-inl.h.

◆ OcTreeIntersectRecurse()

template<typename NarrowPhaseSolver >

bool fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeIntersectRecurse	(	const OcTree< S > *	tree1,
		const typename OcTree< S >::OcTreeNode *	root1,
		const AABB< S > &	bv1,
		const OcTree< S > *	tree2,
		const typename OcTree< S >::OcTreeNode *	root2,
		const AABB< S > &	bv2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2
	)		const

private

stop when 1) bounding boxes of two objects not overlap; OR 2) at least one of the nodes is free; OR 2) (two uncertain nodes OR one node occupied and one node uncertain) AND cost not required

Definition at line 852 of file octree_solver-inl.h.

◆ OcTreeMeshDistance()

template<typename NarrowPhaseSolver >

template<typename BV >

void fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeMeshDistance	(	const OcTree< S > *	tree1,
		const BVHModel< BV > *	tree2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2,
		const DistanceRequest< S > &	request_,
		DistanceResult< S > &	result_
	)		const

distance between octree and mesh

Definition at line 122 of file octree_solver-inl.h.

◆ OcTreeMeshDistanceRecurse()

template<typename NarrowPhaseSolver >

template<typename BV >

bool fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeMeshDistanceRecurse	(	const OcTree< S > *	tree1,
		const typename OcTree< S >::OcTreeNode *	root1,
		const AABB< S > &	bv1,
		const BVHModel< BV > *	tree2,
		int	root2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2
	)		const

private

Definition at line 487 of file octree_solver-inl.h.

◆ OcTreeMeshIntersect()

template<typename NarrowPhaseSolver >

template<typename BV >

void fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeMeshIntersect	(	const OcTree< S > *	tree1,
		const BVHModel< BV > *	tree2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2,
		const CollisionRequest< S > &	request_,
		CollisionResult< S > &	result_
	)		const

collision between octree and mesh

Definition at line 103 of file octree_solver-inl.h.

◆ OcTreeMeshIntersectRecurse()

template<typename NarrowPhaseSolver >

template<typename BV >

bool fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeMeshIntersectRecurse	(	const OcTree< S > *	tree1,
		const typename OcTree< S >::OcTreeNode *	root1,
		const AABB< S > &	bv1,
		const BVHModel< BV > *	tree2,
		int	root2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2
	)		const

private

stop when 1) bounding boxes of two objects not overlap; OR 2) at least one of the nodes is free; OR 2) (two uncertain nodes OR one node occupied and one node uncertain) AND cost not required

Definition at line 575 of file octree_solver-inl.h.

◆ OcTreeShapeDistance()

template<typename NarrowPhaseSolver >

template<typename Shape >

void fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeDistance	(	const OcTree< S > *	tree,
		const Shape &	s,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2,
		const DistanceRequest< S > &	request_,
		DistanceResult< S > &	result_
	)		const

distance between octree and shape

Definition at line 231 of file octree_solver-inl.h.

◆ OcTreeShapeDistanceRecurse()

template<typename NarrowPhaseSolver >

template<typename Shape >

bool fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeDistanceRecurse	(	const OcTree< S > *	tree1,
		const typename OcTree< S >::OcTreeNode *	root1,
		const AABB< S > &	bv1,
		const Shape &	s,
		const AABB< S > &	aabb2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2
	)		const

private

Definition at line 274 of file octree_solver-inl.h.

◆ OcTreeShapeIntersect()

template<typename NarrowPhaseSolver >

template<typename Shape >

void fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeIntersect	(	const OcTree< S > *	tree,
		const Shape &	s,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2,
		const CollisionRequest< S > &	request_,
		CollisionResult< S > &	result_
	)		const

collision between octree and shape

Definition at line 182 of file octree_solver-inl.h.

◆ OcTreeShapeIntersectRecurse()

template<typename NarrowPhaseSolver >

template<typename Shape >

bool fcl::detail::OcTreeSolver< NarrowPhaseSolver >::OcTreeShapeIntersectRecurse	(	const OcTree< S > *	tree1,
		const typename OcTree< S >::OcTreeNode *	root1,
		const AABB< S > &	bv1,
		const Shape &	s,
		const OBB< S > &	obb2,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2
	)		const

private

stop when 1) bounding boxes of two objects not overlap; OR 2) at least of one the nodes is free; OR 2) (two uncertain nodes or one node occupied and one node uncertain) AND cost not required

Definition at line 332 of file octree_solver-inl.h.

◆ ShapeOcTreeDistance()

template<typename NarrowPhaseSolver >

template<typename Shape >

void fcl::detail::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance	(	const Shape &	s,
		const OcTree< S > *	tree,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2,
		const DistanceRequest< S > &	request_,
		DistanceResult< S > &	result_
	)		const

distance between shape and octree

Definition at line 253 of file octree_solver-inl.h.

◆ ShapeOcTreeIntersect()

template<typename NarrowPhaseSolver >

template<typename Shape >

void fcl::detail::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeIntersect	(	const Shape &	s,
		const OcTree< S > *	tree,
		const Transform3< S > &	tf1,
		const Transform3< S > &	tf2,
		const CollisionRequest< S > &	request_,
		CollisionResult< S > &	result_
	)		const

collision between shape and octree

Definition at line 207 of file octree_solver-inl.h.

Member Data Documentation

◆ crequest

template<typename NarrowPhaseSolver >

const CollisionRequest<S>* fcl::detail::OcTreeSolver< NarrowPhaseSolver >::crequest

mutableprivate

Definition at line 67 of file octree_solver.h.

◆ cresult

template<typename NarrowPhaseSolver >

CollisionResult<S>* fcl::detail::OcTreeSolver< NarrowPhaseSolver >::cresult

mutableprivate

Definition at line 70 of file octree_solver.h.

◆ drequest

template<typename NarrowPhaseSolver >

const DistanceRequest<S>* fcl::detail::OcTreeSolver< NarrowPhaseSolver >::drequest

mutableprivate

Definition at line 68 of file octree_solver.h.

◆ dresult

template<typename NarrowPhaseSolver >

DistanceResult<S>* fcl::detail::OcTreeSolver< NarrowPhaseSolver >::dresult

mutableprivate

Definition at line 71 of file octree_solver.h.

◆ solver

template<typename NarrowPhaseSolver >

const NarrowPhaseSolver* fcl::detail::OcTreeSolver< NarrowPhaseSolver >::solver

private

Definition at line 65 of file octree_solver.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<typename NarrowPhaseSolver> class fcl::detail::OcTreeSolver< NarrowPhaseSolver >

Member Typedef Documentation

◆ S

Constructor & Destructor Documentation

◆ OcTreeSolver()

Member Function Documentation

◆ MeshOcTreeDistance()

◆ MeshOcTreeIntersect()

◆ OcTreeDistance()

◆ OcTreeDistanceRecurse()

◆ OcTreeIntersect()

◆ OcTreeIntersectRecurse()

◆ OcTreeMeshDistance()

◆ OcTreeMeshDistanceRecurse()

◆ OcTreeMeshIntersect()

◆ OcTreeMeshIntersectRecurse()

◆ OcTreeShapeDistance()

◆ OcTreeShapeDistanceRecurse()

◆ OcTreeShapeIntersect()

◆ OcTreeShapeIntersectRecurse()

◆ ShapeOcTreeDistance()

◆ ShapeOcTreeIntersect()

Member Data Documentation

◆ crequest

◆ cresult

◆ drequest

◆ dresult

◆ solver

template<typename NarrowPhaseSolver>
class fcl::detail::OcTreeSolver< NarrowPhaseSolver >