FCL  0.6.0
Flexible Collision Library
bvh_shape_distance_traversal_node-inl.h
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35 
38 #ifndef FCL_TRAVERSAL_BVHSHAPEDISTANCETRAVERSALNODE_INL_H
39 #define FCL_TRAVERSAL_BVHSHAPEDISTANCETRAVERSALNODE_INL_H
40 
41 #include "fcl/narrowphase/detail/traversal/distance/bvh_shape_distance_traversal_node.h"
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
49 //==============================================================================
50 template<typename BV, typename Shape>
51 BVHShapeDistanceTraversalNode<BV, Shape>::BVHShapeDistanceTraversalNode()
52  : DistanceTraversalNodeBase<typename BV::S>()
53 {
54  model1 = nullptr;
55  model2 = nullptr;
56 
57  num_bv_tests = 0;
58  num_leaf_tests = 0;
59  query_time_seconds = 0.0;
60 }
61 
62 //==============================================================================
63 template<typename BV, typename Shape>
65 {
66  return model1->getBV(b).isLeaf();
67 }
68 
69 //==============================================================================
70 template<typename BV, typename Shape>
72 {
73  return model1->getBV(b).leftChild();
74 }
75 
76 //==============================================================================
77 template<typename BV, typename Shape>
79 {
80  return model1->getBV(b).rightChild();
81 }
82 
83 //==============================================================================
84 template<typename BV, typename Shape>
86  int b1, int b2) const
87 {
88  return model1->getBV(b1).bv.distance(model2_bv);
89 }
90 
91 } // namespace detail
92 } // namespace fcl
93 
94 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Traversal node for distance computation between BVH and shape.
Definition: bvh_shape_distance_traversal_node.h:52