FCL  0.6.0
Flexible Collision Library
fcl::detail::MeshCollisionTraversalNodeOBB< S > Class Template Reference

Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS) More...

#include <mesh_collision_traversal_node.h>

Inheritance diagram for fcl::detail::MeshCollisionTraversalNodeOBB< S >:
fcl::detail::MeshCollisionTraversalNode< OBB< S > > fcl::detail::BVHCollisionTraversalNode< OBB< S > > fcl::detail::CollisionTraversalNodeBase< OBB< S >::S > fcl::detail::TraversalNodeBase< OBB< S >::S >

Public Member Functions

bool BVTesting (int b1, int b2) const
 BV test between b1 and b2.
 
void leafTesting (int b1, int b2) const
 Leaf test between node b1 and b2, if they are both leafs.
 
bool BVTesting (int b1, int b2, const Matrix3< S > &Rc, const Vector3< S > &Tc) const
 
bool BVTesting (int b1, int b2, const Transform3< S > &tf) const
 
void leafTesting (int b1, int b2, const Matrix3< S > &Rc, const Vector3< S > &Tc) const
 
void leafTesting (int b1, int b2, const Transform3< S > &tf) const
 
- Public Member Functions inherited from fcl::detail::MeshCollisionTraversalNode< OBB< S > >
void leafTesting (int b1, int b2) const
 Intersection testing between leaves (two triangles)
 
bool canStop () const
 Whether the traversal process can stop early.
 
- Public Member Functions inherited from fcl::detail::BVHCollisionTraversalNode< OBB< S > >
bool isFirstNodeLeaf (int b) const
 Whether the BV node in the first BVH tree is leaf.
 
bool isSecondNodeLeaf (int b) const
 Whether the BV node in the second BVH tree is leaf.
 
bool firstOverSecond (int b1, int b2) const
 Determine the traversal order, is the first BVTT subtree better.
 
int getFirstLeftChild (int b) const
 Obtain the left child of BV node in the first BVH.
 
int getFirstRightChild (int b) const
 Obtain the right child of BV node in the first BVH.
 
int getSecondLeftChild (int b) const
 Obtain the left child of BV node in the second BVH.
 
int getSecondRightChild (int b) const
 Obtain the right child of BV node in the second BVH.
 
bool BVTesting (int b1, int b2) const
 BV culling test in one BVTT node.
 
- Public Member Functions inherited from fcl::detail::CollisionTraversalNodeBase< OBB< S >::S >
void enableStatistics (bool enable)
 Whether store some statistics information during traversal.
 
- Public Member Functions inherited from fcl::detail::TraversalNodeBase< OBB< S >::S >
virtual void preprocess ()
 
virtual void postprocess ()
 

Public Attributes

Matrix3< S > R
 
Vector3< S > T
 
- Public Attributes inherited from fcl::detail::MeshCollisionTraversalNode< OBB< S > >
Vector3< S > * vertices1
 
Vector3< S > * vertices2
 
Triangletri_indices1
 
Triangletri_indices2
 
cost_density
 
- Public Attributes inherited from fcl::detail::BVHCollisionTraversalNode< OBB< S > >
const BVHModel< OBB< S > > * model1
 The first BVH model.
 
const BVHModel< OBB< S > > * model2
 The second BVH model.
 
int num_bv_tests
 statistical information
 
int num_leaf_tests
 
query_time_seconds
 
- Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< OBB< S >::S >
CollisionRequest< OBB< S >::S > request
 request setting for collision
 
CollisionResult< OBB< S >::S > * result
 collision result kept during the traversal iteration
 
bool enable_statistics
 Whether stores statistics.
 
- Public Attributes inherited from fcl::detail::TraversalNodeBase< OBB< S >::S >
Transform3< OBB< S >::S > tf1
 configuation of first object
 
Transform3< OBB< S >::S > tf2
 configuration of second object
 

Additional Inherited Members

- Public Types inherited from fcl::detail::MeshCollisionTraversalNode< OBB< S > >
using S = typename OBB< S >::S
 
- Public Types inherited from fcl::detail::BVHCollisionTraversalNode< OBB< S > >
using S = typename OBB< S >::S
 

Detailed Description

template<typename S>
class fcl::detail::MeshCollisionTraversalNodeOBB< S >

Traversal node for collision between two meshes if their underlying BVH node is oriented node (OBB, RSS, OBBRSS, kIOS)


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