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 >:

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
Triangle *	tri_indices1
Triangle *	tri_indices2
S	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
S	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)

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

• /home/js/dev/fcl/master/include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.h
• /home/js/dev/fcl/master/include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node-inl.h