fcl::BVNode< BV > Struct Template Reference

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...

#include <BV_node.h>

Inheritance diagram for fcl::BVNode< BV >:

Public Types
using	S = typename BV::S

Public Member Functions
bool	overlap (const BVNode &other) const
	Check whether two BVNode collide.
S	distance (const BVNode &other, Vector3< S > *P1=nullptr, Vector3< S > *P2=nullptr) const
	Compute the distance between two BVNode. P1 and P2, if not nullptr and the underlying BV supports distance, return the nearest points.
Vector3< S >	getCenter () const
	Access the center of the BV.
Matrix3< S >	getOrientation () const
	Access the orientation of the BV.
Public Member Functions inherited from fcl::BVNodeBase
bool	isLeaf () const
	Whether current node is a leaf node (i.e. contains a primitive index.
int	primitiveId () const
	Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel.
int	leftChild () const
	Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.
int	rightChild () const
	Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

Public Attributes
BV	bv
	bounding volume storing the geometry
Public Attributes inherited from fcl::BVNodeBase
int	first_child
	An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used.
int	first_primitive
	The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly.
int	num_primitives
	The number of primitives belonging to the current node.

Detailed Description

template<typename BV>
struct fcl::BVNode< BV >

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.

---

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

• /home/js/dev/fcl/master/include/fcl/geometry/bvh/BV_node.h
• /home/js/dev/fcl/master/include/fcl/geometry/bvh/BV_node-inl.h