FCL  0.6.0
Flexible Collision Library
Public Member Functions | Public Attributes | List of all members
fcl::detail::CollisionTraversalNodeBase< S > Class Template Reference

Node structure encoding the information required for collision traversal. More...

#include <collision_traversal_node_base.h>

Inheritance diagram for fcl::detail::CollisionTraversalNodeBase< S >:
fcl::detail::TraversalNodeBase< S >

Public Member Functions

virtual bool BVTesting (int b1, int b2) const
 BV test between b1 and b2.
 
virtual void leafTesting (int b1, int b2) const
 Leaf test between node b1 and b2, if they are both leafs.
 
virtual bool canStop () 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< S >
virtual void preprocess ()
 
virtual void postprocess ()
 
virtual bool isFirstNodeLeaf (int b) const
 Whether b is a leaf node in the first BVH tree.
 
virtual bool isSecondNodeLeaf (int b) const
 Whether b is a leaf node in the second BVH tree.
 
virtual bool firstOverSecond (int b1, int b2) const
 Traverse the subtree of the node in the first tree first.
 
virtual int getFirstLeftChild (int b) const
 Get the left child of the node b in the first tree.
 
virtual int getFirstRightChild (int b) const
 Get the right child of the node b in the first tree.
 
virtual int getSecondLeftChild (int b) const
 Get the left child of the node b in the second tree.
 
virtual int getSecondRightChild (int b) const
 Get the right child of the node b in the second tree.
 

Public Attributes

CollisionRequest< S > request
 request setting for collision
 
CollisionResult< S > * result
 collision result kept during the traversal iteration
 
bool enable_statistics
 Whether stores statistics.
 
- Public Attributes inherited from fcl::detail::TraversalNodeBase< S >
Transform3< S > tf1
 configuation of first object
 
Transform3< S > tf2
 configuration of second object
 

Detailed Description

template<typename S>
class fcl::detail::CollisionTraversalNodeBase< S >

Node structure encoding the information required for collision traversal.

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