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

Traversal node for octree-mesh collision. More...

#include <octree_mesh_collision_traversal_node.h>

Inheritance diagram for fcl::detail::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >:
fcl::detail::CollisionTraversalNodeBase< BV::S > fcl::detail::TraversalNodeBase< BV::S >

Public Types

using S = typename BV::S
 

Public Member Functions

bool BVTesting (int, int) const
 BV test between b1 and b2.
 
void leafTesting (int, int) const
 Leaf test between node b1 and b2, if they are both leafs.
 
- Public Member Functions inherited from fcl::detail::CollisionTraversalNodeBase< BV::S >
virtual bool canStop () 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 isFirstNodeLeaf (int b) const
 Whether b is a leaf node in the first BVH tree.
 
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 getFirstLeftChild (int b) const
 Get the left child of the node b in the first tree.
 
virtual int getFirstRightChild (int b) const
 Get the right child of the node b in the first tree.
 
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

const OcTree< S > * model1
 
const BVHModel< BV > * model2
 
Transform3< S > tf1
 
Transform3< S > tf2
 
const OcTreeSolver< NarrowPhaseSolver > * otsolver
 
- Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< BV::S >
CollisionRequest< BV::S > request
 request setting for collision
 
CollisionResult< BV::S > * result
 collision 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 NarrowPhaseSolver>
class fcl::detail::OcTreeMeshCollisionTraversalNode< BV, NarrowPhaseSolver >

Traversal node for octree-mesh collision.


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