mesh_continuous_collision_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_MESHCONTINUOUSCOLLISIONTRAVERSALNODE_H
39 #define FCL_TRAVERSAL_MESHCONTINUOUSCOLLISIONTRAVERSALNODE_H
40 
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
50 template <typename S>
51 struct FCL_EXPORT BVHContinuousCollisionPair
52 {
54 
55  BVHContinuousCollisionPair(int id1_, int id2_, S time);
56 
58  int id1;
59 
61  int id2;
62 
65 };
66 
68 template <typename BV>
70  : public BVHCollisionTraversalNode<BV>
71 {
72 public:
73 
74  using S = typename BV::S;
75 
77 
79  void leafTesting(int b1, int b2) const;
80 
82  bool canStop() const;
83 
86 
89 
92 
93  mutable int num_vf_tests;
94  mutable int num_ee_tests;
95 
96  mutable std::vector<BVHContinuousCollisionPair<S>> pairs;
97 
98  mutable S time_of_contact;
99 };
100 
103 template <typename BV>
104 FCL_EXPORT
105 bool initialize(
107  const BVHModel<BV>& model1,
108  const Transform3<typename BV::S>& tf1,
109  const BVHModel<BV>& model2,
110  const Transform3<typename BV::S>& tf2,
111  const CollisionRequest<typename BV::S>& request);
112 
113 } // namespace detail
114 } // namespace fcl
115 
117 
118 #endif
fcl::detail::BVHContinuousCollisionPair::id2
int id2
The index of the other in-collision primitive.
Definition: mesh_continuous_collision_traversal_node.h:61
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::detail::MeshContinuousCollisionTraversalNode
Traversal node for continuous collision between meshes.
Definition: mesh_continuous_collision_traversal_node.h:69
fcl::detail::MeshContinuousCollisionTraversalNode::pairs
std::vector< BVHContinuousCollisionPair< S > > pairs
Definition: mesh_continuous_collision_traversal_node.h:96
fcl::detail::MeshContinuousCollisionTraversalNode::tri_indices2
Triangle * tri_indices2
Definition: mesh_continuous_collision_traversal_node.h:88
fcl::detail::MeshContinuousCollisionTraversalNode::prev_vertices2
Vector3< S > * prev_vertices2
Definition: mesh_continuous_collision_traversal_node.h:91
fcl::detail::MeshContinuousCollisionTraversalNode::tri_indices1
Triangle * tri_indices1
Definition: mesh_continuous_collision_traversal_node.h:87
fcl::detail::BVHContinuousCollisionPair::id1
int id1
The index of one in-collision primitive.
Definition: mesh_continuous_collision_traversal_node.h:58
fcl::detail::MeshContinuousCollisionTraversalNode::num_vf_tests
int num_vf_tests
Definition: mesh_continuous_collision_traversal_node.h:93
fcl::Triangle
Triangle with 3 indices for points.
Definition: triangle.h:48
mesh_continuous_collision_traversal_node-inl.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::detail::MeshContinuousCollisionTraversalNode::S
typename BV::S S
Definition: mesh_continuous_collision_traversal_node.h:74
fcl::detail::MeshContinuousCollisionTraversalNode::num_ee_tests
int num_ee_tests
Definition: mesh_continuous_collision_traversal_node.h:94
bvh_collision_traversal_node.h
fcl::detail::MeshContinuousCollisionTraversalNode::prev_vertices1
Vector3< S > * prev_vertices1
Definition: mesh_continuous_collision_traversal_node.h:90
fcl::detail::MeshContinuousCollisionTraversalNode::time_of_contact
S time_of_contact
Definition: mesh_continuous_collision_traversal_node.h:98
fcl::CollisionRequest
Parameters for performing collision request.
Definition: collision_request.h:52
fcl::detail::initialize
template bool initialize(MeshCollisionTraversalNodeOBB< double > &node, const BVHModel< OBB< double >> &model1, const Transform3< double > &tf1, const BVHModel< OBB< double >> &model2, const Transform3< double > &tf2, const CollisionRequest< double > &request, CollisionResult< double > &result)
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::BVHContinuousCollisionPair
Traversal node for continuous collision between BVH models.
Definition: mesh_continuous_collision_traversal_node.h:51
fcl::detail::MeshContinuousCollisionTraversalNode::vertices1
Vector3< S > * vertices1
Definition: mesh_continuous_collision_traversal_node.h:84
fcl::detail::MeshContinuousCollisionTraversalNode::vertices2
Vector3< S > * vertices2
Definition: mesh_continuous_collision_traversal_node.h:85
fcl::detail::BVHCollisionTraversalNode
Traversal node for collision between BVH models.
Definition: bvh_collision_traversal_node.h:52
fcl::detail::BVHContinuousCollisionPair::collision_time
S collision_time
Collision time normalized in [0, 1]. The collision time out of [0, 1] means collision-free.
Definition: mesh_continuous_collision_traversal_node.h:64
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Jun 22 2021 07:27:51