FCL  0.6.0
Flexible Collision Library
bvh_shape_collision_traversal_node.h
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35 
38 #ifndef FCL_TRAVERSAL_BVHSHAPECOLLISIONTRAVERSALNODE_H
39 #define FCL_TRAVERSAL_BVHSHAPECOLLISIONTRAVERSALNODE_H
40 
41 #include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h"
42 #include "fcl/geometry/bvh/BVH_model.h"
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
51 template <typename BV, typename Shape>
53  : public CollisionTraversalNodeBase<typename BV::S>
54 {
55 public:
56 
57  using S = typename BV::S;
58 
60 
62  bool isFirstNodeLeaf(int b) const;
63 
65  int getFirstLeftChild(int b) const;
66 
68  int getFirstRightChild(int b) const;
69 
71  bool BVTesting(int b1, int b2) const;
72 
73  const BVHModel<BV>* model1;
74  const Shape* model2;
75  BV model2_bv;
76 
77  mutable int num_bv_tests;
78  mutable int num_leaf_tests;
79  mutable S query_time_seconds;
80 };
81 
82 } // namespace detail
83 } // namespace fcl
84 
85 #include "fcl/narrowphase/detail/traversal/collision/bvh_shape_collision_traversal_node-inl.h"
86 
87 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Traversal node for collision between BVH and shape.
Definition: bvh_shape_collision_traversal_node.h:52
Node structure encoding the information required for collision traversal.
Definition: collision_traversal_node_base.h:52
bool BVTesting(int b1, int b2) const
BV culling test in one BVTT node.
Definition: bvh_shape_collision_traversal_node-inl.h:85
int getFirstRightChild(int b) const
Obtain the right child of BV node in the first BVH.
Definition: bvh_shape_collision_traversal_node-inl.h:78
bool isFirstNodeLeaf(int b) const
Whether the BV node in the first BVH tree is leaf.
Definition: bvh_shape_collision_traversal_node-inl.h:64
int getFirstLeftChild(int b) const
Obtain the left child of BV node in the first BVH.
Definition: bvh_shape_collision_traversal_node-inl.h:71
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:57