Traversal node for distance computation between BVH models. More...

Inheritance diagram for fcl::detail::BVHDistanceTraversalNode< BV >:

Public Member Functions
bool	isFirstNodeLeaf (int b) const
	Whether the BV node in the first BVH tree is leaf.

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

bool	firstOverSecond (int b1, int b2) const
	Determine the traversal order, is the first BVTT subtree better.

int	getFirstLeftChild (int b) const
	Obtain the left child of BV node in the first BVH.

int	getFirstRightChild (int b) const
	Obtain the right child of BV node in the first BVH.

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.

S	BVTesting (int b1, int b2) const
	BV culling test in one BVTT node.

Public Member Functions inherited from fcl::detail::DistanceTraversalNodeBase< 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 (BV::Sc) 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 ()

Public Attributes
const BVHModel< BV > *	model1
	The first BVH model.

const BVHModel< BV > *	model2
	The second BVH model.

int	num_bv_tests
	statistical information

int	num_leaf_tests

S	query_time_seconds

Public Attributes inherited from fcl::detail::DistanceTraversalNodeBase< BV::S >
DistanceRequest< BV::S >	request
	request setting for distance

DistanceResult< BV::S > *	result
	distance 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 distance computation between BVH models.

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

/home/js/dev/fcl/master/include/fcl/narrowphase/detail/traversal/distance/bvh_distance_traversal_node.h
/home/js/dev/fcl/master/include/fcl/narrowphase/detail/traversal/distance/bvh_distance_traversal_node-inl.h

Public Types