FCL
0.6.0
Flexible Collision Library

Public Member Functions  
void  preprocess () 
void  postprocess () 
S  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.  
Public Member Functions inherited from fcl::detail::MeshDistanceTraversalNode< kIOS< S > >  
void  leafTesting (int b1, int b2) const 
Distance testing between leaves (two triangles)  
bool  canStop (S c) const 
Whether the traversal process can stop early.  
Public Member Functions inherited from fcl::detail::BVHDistanceTraversalNode< kIOS< 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.  
S  BVTesting (int b1, int b2) const 
BV culling test in one BVTT node.  
Public Member Functions inherited from fcl::detail::DistanceTraversalNodeBase< kIOS< S >::S >  
virtual bool  canStop (kIOS< S >::Sc) const 
Check whether the traversal can stop.  
void  enableStatistics (bool enable) 
Whether store some statistics information during traversal.  
Public Attributes  
Transform3< S >  tf 
Public Attributes inherited from fcl::detail::MeshDistanceTraversalNode< kIOS< S > >  
Vector3< S > *  vertices1 
Vector3< S > *  vertices2 
Triangle *  tri_indices1 
Triangle *  tri_indices2 
S  rel_err 
relative and absolute error, default value is 0.01 for both terms  
S  abs_err 
Public Attributes inherited from fcl::detail::BVHDistanceTraversalNode< kIOS< S > >  
const BVHModel< kIOS< S > > *  model1 
The first BVH model.  
const BVHModel< kIOS< 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::DistanceTraversalNodeBase< kIOS< S >::S >  
DistanceRequest< kIOS< S >::S >  request 
request setting for distance  
DistanceResult< kIOS< S >::S > *  result 
distance result kept during the traversal iteration  
bool  enable_statistics 
Whether stores statistics.  
Public Attributes inherited from fcl::detail::TraversalNodeBase< kIOS< S >::S >  
Transform3< kIOS< S >::S >  tf1 
configuation of first object  
Transform3< kIOS< S >::S >  tf2 
configuration of second object  
Additional Inherited Members  
Public Types inherited from fcl::detail::MeshDistanceTraversalNode< kIOS< S > >  
using  S = typename kIOS< S >::S 
Public Types inherited from fcl::detail::BVHDistanceTraversalNode< kIOS< S > >  
using  S = typename kIOS< S >::S 