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

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

Public Member Functions
bool	firstOverSecond (int, int) const
	Alway extend the second model, which is a BVH model.

bool	isSecondNodeLeaf (int b) const
	Whether the BV node in the second BVH tree is leaf.

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< BV::S >
virtual void	leafTesting (int b1, int b2) const
	Leaf test between node b1 and b2, if they are both leafs.

virtual bool	canStop () const
	Check whether the traversal can stop.

void	enableStatistics (bool enable)
	Whether store some statistics information during traversal.

Public Member Functions inherited from fcl::detail::TraversalNodeBase< BV::S >
virtual void	preprocess ()

virtual void	postprocess ()

virtual bool	isFirstNodeLeaf (int b) const
	Whether b is a leaf node in the first BVH tree.

virtual int	getFirstLeftChild (int b) const
	Get the left child of the node b in the first tree.

virtual int	getFirstRightChild (int b) const
	Get the right child of the node b in the first tree.

Public Attributes
const Shape *	model1

const BVHModel< BV > *	model2

BV	model1_bv

int	num_bv_tests

int	num_leaf_tests

S	query_time_seconds

Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< BV::S >
CollisionRequest< BV::S >	request
	request setting for collision

CollisionResult< BV::S > *	result
	collision result kept during the traversal iteration

bool	enable_statistics
	Whether stores statistics.

Public Attributes inherited from fcl::detail::TraversalNodeBase< BV::S >
Transform3< BV::S >	tf1
	configuation of first object

Transform3< BV::S >	tf2
	configuration of second object

Detailed Description

Traversal node for collision between shape and BVH.

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

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

Public Types