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 >:

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)
S	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
S	min_distance
Vector3< S >	closest_p1
Vector3< S >	closest_p2
int	last_tri_id
S	w
	CA controlling variable: early stop for the early iterations of CA.
S	toc
	The time from beginning point.
S	t_err
S	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
Triangle *	tri_indices
S	rel_err
S	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
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

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

Traversal node for conservative advancement computation between BVH and shape.

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

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