FCL  0.6.0
Flexible Collision Library
shape_bvh_collision_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_SHAPEBVHCOLLISIONTRAVERSALNODE_H
39 #define FCL_TRAVERSAL_SHAPEBVHCOLLISIONTRAVERSALNODE_H
40 
41 #include "fcl/narrowphase/detail/traversal/traversal_node_base.h"
42 #include "fcl/geometry/bvh/BVH_model.h"
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
51 template <typename Shape, typename BV>
53  : public CollisionTraversalNodeBase<typename BV::S>
54 {
55 public:
56 
57  using S = typename BV::S;
58 
60 
62  bool firstOverSecond(int, int) const;
63 
65  bool isSecondNodeLeaf(int b) const;
66 
68  int getSecondLeftChild(int b) const;
69 
71  int getSecondRightChild(int b) const;
72 
74  bool BVTesting(int b1, int b2) const;
75 
76  const Shape* model1;
77  const BVHModel<BV>* model2;
78  BV model1_bv;
79 
80  mutable int num_bv_tests;
81  mutable int num_leaf_tests;
82  mutable S query_time_seconds;
83 };
84 
85 } // namespace detail
86 } // namespace fcl
87 
88 #include "fcl/narrowphase/detail/traversal/collision/shape_bvh_collision_traversal_node-inl.h"
89 
90 #endif
int getSecondRightChild(int b) const
Obtain the right child of BV node in the second BVH.
Definition: shape_bvh_collision_traversal_node-inl.h:85
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Traversal node for collision between shape and BVH.
Definition: shape_bvh_collision_traversal_node.h:52
bool isSecondNodeLeaf(int b) const
Whether the BV node in the second BVH tree is leaf.
Definition: shape_bvh_collision_traversal_node-inl.h:71
Node structure encoding the information required for collision traversal.
Definition: collision_traversal_node_base.h:52
bool BVTesting(int b1, int b2) const
BV culling test in one BVTT node.
Definition: shape_bvh_collision_traversal_node-inl.h:92
int getSecondLeftChild(int b) const
Obtain the left child of BV node in the second BVH.
Definition: shape_bvh_collision_traversal_node-inl.h:78
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:57
bool firstOverSecond(int, int) const
Alway extend the second model, which is a BVH model.
Definition: shape_bvh_collision_traversal_node-inl.h:64