Public Types | Public Member Functions | Public Attributes | List of all members
fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV > Class Template Reference

Traversal node for collision between shape and BVH. More...

#include <shape_bvh_collision_traversal_node.h>

Inheritance diagram for fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >:
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Public Types

using S = typename BV::S
 

Public Member Functions

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< BV::S >
virtual bool canStop () const
 Check whether the traversal can stop. More...
 
 CollisionTraversalNodeBase ()
 
void enableStatistics (bool enable)
 Whether store some statistics information during traversal. More...
 
virtual void leafTesting (int b1, int b2) const
 Leaf test between node b1 and b2, if they are both leafs. More...
 
virtual ~CollisionTraversalNodeBase ()
 
- Public Member Functions inherited from fcl::detail::TraversalNodeBase< BV::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 ()
 

Public Attributes

const Shape * model1
 
BV model1_bv
 
const BVHModel< BV > * model2
 
int num_bv_tests
 
int num_leaf_tests
 
S query_time_seconds
 
- Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< BV::S >
bool enable_statistics
 Whether stores statistics. More...
 
CollisionRequest< BV::S > request
 request setting for collision More...
 
CollisionResult< BV::S > * result
 collision result kept during the traversal iteration More...
 
- Public Attributes inherited from fcl::detail::TraversalNodeBase< BV::S >
Transform3< BV::S > tf1
 configuation of first object More...
 
Transform3< BV::S > tf2
 configuration of second object More...
 

Detailed Description

template<typename Shape, typename BV>
class fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >

Traversal node for collision between shape and BVH.

Definition at line 52 of file shape_bvh_collision_traversal_node.h.

Member Typedef Documentation

◆ S

template<typename Shape , typename BV >
using fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::S = typename BV::S

Definition at line 57 of file shape_bvh_collision_traversal_node.h.

Constructor & Destructor Documentation

◆ ShapeBVHCollisionTraversalNode()

template<typename Shape , typename BV >
fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::ShapeBVHCollisionTraversalNode

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

Member Function Documentation

◆ BVTesting()

template<typename Shape , typename BV >
bool fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::BVTesting ( int  b1,
int  b2 
) const
virtual

BV culling test in one BVTT node.

Reimplemented from fcl::detail::CollisionTraversalNodeBase< BV::S >.

Definition at line 94 of file shape_bvh_collision_traversal_node-inl.h.

◆ firstOverSecond()

template<typename Shape , typename BV >
bool fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::firstOverSecond ( int  ,
int   
) const
virtual

Alway extend the second model, which is a BVH model.

Reimplemented from fcl::detail::TraversalNodeBase< BV::S >.

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

◆ getSecondLeftChild()

template<typename Shape , typename BV >
int fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::getSecondLeftChild ( int  b) const
virtual

Obtain the left child of BV node in the second BVH.

Reimplemented from fcl::detail::TraversalNodeBase< BV::S >.

Definition at line 80 of file shape_bvh_collision_traversal_node-inl.h.

◆ getSecondRightChild()

template<typename Shape , typename BV >
int fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::getSecondRightChild ( int  b) const
virtual

Obtain the right child of BV node in the second BVH.

Reimplemented from fcl::detail::TraversalNodeBase< BV::S >.

Definition at line 87 of file shape_bvh_collision_traversal_node-inl.h.

◆ isSecondNodeLeaf()

template<typename Shape , typename BV >
bool fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::isSecondNodeLeaf ( int  b) const
virtual

Whether the BV node in the second BVH tree is leaf.

Reimplemented from fcl::detail::TraversalNodeBase< BV::S >.

Definition at line 73 of file shape_bvh_collision_traversal_node-inl.h.

Member Data Documentation

◆ model1

template<typename Shape , typename BV >
const Shape* fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::model1

Definition at line 76 of file shape_bvh_collision_traversal_node.h.

◆ model1_bv

template<typename Shape , typename BV >
BV fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::model1_bv

Definition at line 78 of file shape_bvh_collision_traversal_node.h.

◆ model2

template<typename Shape , typename BV >
const BVHModel<BV>* fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::model2

Definition at line 77 of file shape_bvh_collision_traversal_node.h.

◆ num_bv_tests

template<typename Shape , typename BV >
int fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::num_bv_tests
mutable

Definition at line 80 of file shape_bvh_collision_traversal_node.h.

◆ num_leaf_tests

template<typename Shape , typename BV >
int fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::num_leaf_tests
mutable

Definition at line 81 of file shape_bvh_collision_traversal_node.h.

◆ query_time_seconds

template<typename Shape , typename BV >
S fcl::detail::ShapeBVHCollisionTraversalNode< Shape, BV >::query_time_seconds
mutable

Definition at line 82 of file shape_bvh_collision_traversal_node.h.


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


fcl
Author(s):
autogenerated on Fri Apr 2 2021 02:38:03