FCL  0.6.0
Flexible Collision Library
bvh_collision_traversal_node-inl.h
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35 
38 #ifndef FCL_TRAVERSAL_BVHCOLLISIONTRAVERSALNODE_INL_H
39 #define FCL_TRAVERSAL_BVHCOLLISIONTRAVERSALNODE_INL_H
40 
41 #include "fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node.h"
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
49 //==============================================================================
50 template <typename BV>
51 BVHCollisionTraversalNode<BV>::BVHCollisionTraversalNode()
52  : CollisionTraversalNodeBase<typename BV::S>()
53 {
54  model1 = nullptr;
55  model2 = nullptr;
56 
57  num_bv_tests = 0;
58  num_leaf_tests = 0;
59  query_time_seconds = 0.0;
60 }
61 
62 //==============================================================================
63 template <typename BV>
65 {
66  return model1->getBV(b).isLeaf();
67 }
68 
69 //==============================================================================
70 template <typename BV>
72 {
73  return model2->getBV(b).isLeaf();
74 }
75 
76 //==============================================================================
77 template <typename BV>
79 {
80  S sz1 = model1->getBV(b1).bv.size();
81  S sz2 = model2->getBV(b2).bv.size();
82 
83  bool l1 = model1->getBV(b1).isLeaf();
84  bool l2 = model2->getBV(b2).isLeaf();
85 
86  if(l2 || (!l1 && (sz1 > sz2)))
87  return true;
88  return false;
89 }
90 
91 //==============================================================================
92 template <typename BV>
94 {
95  return model1->getBV(b).leftChild();
96 }
97 
98 //==============================================================================
99 template <typename BV>
101 {
102  return model1->getBV(b).rightChild();
103 }
104 
105 //==============================================================================
106 template <typename BV>
108 {
109  return model2->getBV(b).leftChild();
110 }
111 
112 //==============================================================================
113 template <typename BV>
115 {
116  return model2->getBV(b).rightChild();
117 }
118 
119 //==============================================================================
120 template <typename BV>
122 {
123  if(this->enable_statistics) num_bv_tests++;
124  return !model1->getBV(b1).overlap(model2->getBV(b2));
125 }
126 
127 } // namespace detail
128 } // namespace fcl
129 
130 #endif
int getFirstLeftChild(int b) const
Obtain the left child of BV node in the first BVH.
Definition: bvh_collision_traversal_node-inl.h:93
bool firstOverSecond(int b1, int b2) const
Determine the traversal order, is the first BVTT subtree better.
Definition: bvh_collision_traversal_node-inl.h:78
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
bool isFirstNodeLeaf(int b) const
Whether the BV node in the first BVH tree is leaf.
Definition: bvh_collision_traversal_node-inl.h:64
int getSecondLeftChild(int b) const
Obtain the left child of BV node in the second BVH.
Definition: bvh_collision_traversal_node-inl.h:107
int getFirstRightChild(int b) const
Obtain the right child of BV node in the first BVH.
Definition: bvh_collision_traversal_node-inl.h:100
int getSecondRightChild(int b) const
Obtain the right child of BV node in the second BVH.
Definition: bvh_collision_traversal_node-inl.h:114
bool BVTesting(int b1, int b2) const
BV culling test in one BVTT node.
Definition: bvh_collision_traversal_node-inl.h:121
bool isSecondNodeLeaf(int b) const
Whether the BV node in the second BVH tree is leaf.
Definition: bvh_collision_traversal_node-inl.h:71