FCL  0.6.0 Flexible Collision Library
fcl::detail::MeshCollisionTraversalNodeRSS< S > Class Template Reference
Inheritance diagram for fcl::detail::MeshCollisionTraversalNodeRSS< S >:

## Public Member Functions

bool BVTesting (int b1, int b2) const
BV test between b1 and b2.

void leafTesting (int b1, int b2) const
Leaf test between node b1 and b2, if they are both leafs.

bool BVTesting (int b1, int b2, const Transform3< S > &tf) const

void leafTesting (int b1, int b2, const Transform3< S > &tf) const

Public Member Functions inherited from fcl::detail::MeshCollisionTraversalNode< RSS< S > >
void leafTesting (int b1, int b2) const
Intersection testing between leaves (two triangles)

bool canStop () const
Whether the traversal process can stop early.

Public Member Functions inherited from fcl::detail::BVHCollisionTraversalNode< RSS< S > >
bool isFirstNodeLeaf (int b) const
Whether the BV node in the first BVH tree is leaf.

bool isSecondNodeLeaf (int b) const
Whether the BV node in the second BVH tree is leaf.

bool firstOverSecond (int b1, int b2) const
Determine the traversal order, is the first BVTT subtree better.

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.

int getSecondLeftChild (int b) const
Obtain the left child of BV node in the second BVH.

int getSecondRightChild (int b) const
Obtain the right child of BV node in the second BVH.

bool BVTesting (int b1, int b2) const
BV culling test in one BVTT node.

Public Member Functions inherited from fcl::detail::CollisionTraversalNodeBase< RSS< S >::S >
void enableStatistics (bool enable)
Whether store some statistics information during traversal.

Public Member Functions inherited from fcl::detail::TraversalNodeBase< RSS< S >::S >
virtual void preprocess ()

virtual void postprocess ()

## Public Attributes

Matrix3< S > R

Vector3< S > T

Public Attributes inherited from fcl::detail::MeshCollisionTraversalNode< RSS< S > >
Vector3< S > * vertices1

Vector3< S > * vertices2

Triangletri_indices1

Triangletri_indices2

cost_density

Public Attributes inherited from fcl::detail::BVHCollisionTraversalNode< RSS< S > >
const BVHModel< RSS< S > > * model1
The first BVH model.

const BVHModel< RSS< S > > * model2
The second BVH model.

int num_bv_tests
statistical information

int num_leaf_tests

query_time_seconds

Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< RSS< S >::S >
CollisionRequest< RSS< S >::S > request
request setting for collision

CollisionResult< RSS< S >::S > * result
collision result kept during the traversal iteration

bool enable_statistics
Whether stores statistics.

Public Attributes inherited from fcl::detail::TraversalNodeBase< RSS< S >::S >
Transform3< RSS< S >::S > tf1
configuation of first object

Transform3< RSS< S >::S > tf2
configuration of second object