FCL
0.6.0
Flexible Collision Library

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>
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.  
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.