FCL  0.6.0
Flexible Collision Library
fcl::BVNodeBase Struct Reference

BVNodeBase encodes the tree structure for BVH. More...

#include <BV_node_base.h>

Inheritance diagram for fcl::BVNodeBase:
fcl::BVNode< kIOS< S > > fcl::BVNode< kIOS< Shape::S > > fcl::BVNode< OBB< S > > fcl::BVNode< OBB< Shape::S > > fcl::BVNode< OBBRSS< S > > fcl::BVNode< OBBRSS< Shape::S > > fcl::BVNode< RSS< S > > fcl::BVNode< RSS< Shape::S > > fcl::BVNode< BV >

Public Member Functions

bool isLeaf () const
 Whether current node is a leaf node (i.e. contains a primitive index.
 
int primitiveId () const
 Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel.
 
int leftChild () const
 Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.
 
int rightChild () const
 Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.
 

Public Attributes

int first_child
 An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used.
 
int first_primitive
 The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly.
 
int num_primitives
 The number of primitives belonging to the current node.
 

Detailed Description

BVNodeBase encodes the tree structure for BVH.


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