FCL  0.6.0
Flexible Collision Library
fcl::detail::MeshShapeConservativeAdvancementTraversalNode< BV, Shape, NarrowPhaseSolver > Class Template Reference

Traversal node for conservative advancement computation between BVH and shape. More...

#include <mesh_shape_conservative_advancement_traversal_node.h>

Inheritance diagram for fcl::detail::MeshShapeConservativeAdvancementTraversalNode< BV, Shape, NarrowPhaseSolver >:
fcl::detail::MeshShapeDistanceTraversalNode< BV, Shape, NarrowPhaseSolver > fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape > fcl::detail::DistanceTraversalNodeBase< BV::S > fcl::detail::TraversalNodeBase< BV::S >

Public Types

using S = typename BV::S
 
- Public Types inherited from fcl::detail::MeshShapeDistanceTraversalNode< BV, Shape, NarrowPhaseSolver >
using S = typename BV::S
 
- Public Types inherited from fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >
using S = typename BV::S
 

Public Member Functions

 MeshShapeConservativeAdvancementTraversalNode (S w_=1)
 
BVTesting (int b1, int b2) const
 BV culling test in one BVTT node.
 
void leafTesting (int b1, int b2) const
 Conservative advancement testing between leaves (one triangle and one shape)
 
bool canStop (S c) const
 Whether the traversal process can stop early.
 
- Public Member Functions inherited from fcl::detail::MeshShapeDistanceTraversalNode< BV, Shape, NarrowPhaseSolver >
void leafTesting (int b1, int b2) const
 Distance testing between leaves (one triangle and one shape)
 
bool canStop (S c) const
 Whether the traversal process can stop early.
 
- Public Member Functions inherited from fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >
bool isFirstNodeLeaf (int b) const
 Whether the BV node in the first BVH tree is leaf.
 
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.
 
- Public Member Functions inherited from fcl::detail::DistanceTraversalNodeBase< BV::S >
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 ()
 
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 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

min_distance
 
Vector3< S > closest_p1
 
Vector3< S > closest_p2
 
int last_tri_id
 
w
 CA controlling variable: early stop for the early iterations of CA.
 
toc
 The time from beginning point.
 
t_err
 
delta_t
 The delta_t each step.
 
const MotionBase< S > * motion1
 Motions for the two objects in query.
 
const MotionBase< S > * motion2
 
std::vector< ConservativeAdvancementStackData< S > > stack
 
- Public Attributes inherited from fcl::detail::MeshShapeDistanceTraversalNode< BV, Shape, NarrowPhaseSolver >
Vector3< S > * vertices
 
Triangletri_indices
 
rel_err
 
abs_err
 
const NarrowPhaseSolver * nsolver
 
- Public Attributes inherited from fcl::detail::BVHShapeDistanceTraversalNode< BV, Shape >
const BVHModel< BV > * model1
 
const Shape * model2
 
BV model2_bv
 
int num_bv_tests
 
int num_leaf_tests
 
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

template<typename BV, typename Shape, typename NarrowPhaseSolver>
class fcl::detail::MeshShapeConservativeAdvancementTraversalNode< BV, Shape, NarrowPhaseSolver >

Traversal node for conservative advancement computation between BVH and shape.


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