FCL  0.6.0
Flexible Collision Library
mesh_continuous_collision_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_MESHCONTINUOUSCOLLISIONTRAVERSALNODE_H
39 #define FCL_TRAVERSAL_MESHCONTINUOUSCOLLISIONTRAVERSALNODE_H
40 
41 #include "fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node.h"
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
50 template <typename S>
52 {
54 
55  BVHContinuousCollisionPair(int id1_, int id2_, S time);
56 
58  int id1;
59 
61  int id2;
62 
65 };
66 
68 template <typename BV>
70  : public BVHCollisionTraversalNode<BV>
71 {
72 public:
73 
74  using S = typename BV::S;
75 
77 
79  void leafTesting(int b1, int b2) const;
80 
82  bool canStop() const;
83 
84  Vector3<S>* vertices1;
85  Vector3<S>* vertices2;
86 
87  Triangle* tri_indices1;
88  Triangle* tri_indices2;
89 
90  Vector3<S>* prev_vertices1;
91  Vector3<S>* prev_vertices2;
92 
93  mutable int num_vf_tests;
94  mutable int num_ee_tests;
95 
96  mutable std::vector<BVHContinuousCollisionPair<S>> pairs;
97 
98  mutable S time_of_contact;
99 };
100 
103 template <typename BV>
104 bool initialize(
106  const BVHModel<BV>& model1,
107  const Transform3<typename BV::S>& tf1,
108  const BVHModel<BV>& model2,
109  const Transform3<typename BV::S>& tf2,
110  const CollisionRequest<typename BV::S>& request);
111 
112 } // namespace detail
113 } // namespace fcl
114 
115 #include "fcl/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node-inl.h"
116 
117 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Traversal node for continuous collision between BVH models.
Definition: mesh_continuous_collision_traversal_node.h:51
int id1
The index of one in-collision primitive.
Definition: mesh_continuous_collision_traversal_node.h:58
S collision_time
Collision time normalized in [0, 1]. The collision time out of [0, 1] means collision-free.
Definition: mesh_continuous_collision_traversal_node.h:64
Triangle with 3 indices for points.
Definition: triangle.h:47
request to the collision algorithm
Definition: collision_request.h:52
int id2
The index of the other in-collision primitive.
Definition: mesh_continuous_collision_traversal_node.h:61
Traversal node for continuous collision between meshes.
Definition: mesh_continuous_collision_traversal_node.h:69
Traversal node for collision between BVH models.
Definition: bvh_collision_traversal_node.h:52
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:57