FCL  0.6.0
Flexible Collision Library
octree_collision_traversal_node-inl.h
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35 
38 #ifndef FCL_TRAVERSAL_OCTREE_OCTREECOLLISIONTRAVERSALNODE_INL_H
39 #define FCL_TRAVERSAL_OCTREE_OCTREECOLLISIONTRAVERSALNODE_INL_H
40 
41 #include "fcl/narrowphase/detail/traversal/octree/collision/octree_collision_traversal_node.h"
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
49 //==============================================================================
50 template <typename NarrowPhaseSolver>
51 OcTreeCollisionTraversalNode<NarrowPhaseSolver>::OcTreeCollisionTraversalNode()
52 {
53  model1 = nullptr;
54  model2 = nullptr;
55 
56  otsolver = nullptr;
57 }
58 
59 //==============================================================================
60 template <typename NarrowPhaseSolver>
62  int, int) const
63 {
64  return false;
65 }
66 
67 //==============================================================================
68 template <typename NarrowPhaseSolver>
70  int, int) const
71 {
72  otsolver->OcTreeIntersect(
73  model1, model2, tf1, tf2, this->request, *this->result);
74 }
75 
76 //==============================================================================
77 template <typename NarrowPhaseSolver>
78 bool initialize(
80  const OcTree<typename NarrowPhaseSolver::S>& model1,
81  const Transform3<typename NarrowPhaseSolver::S>& tf1,
82  const OcTree<typename NarrowPhaseSolver::S>& model2,
83  const Transform3<typename NarrowPhaseSolver::S>& tf2,
84  const OcTreeSolver<NarrowPhaseSolver>* otsolver,
87 {
88  node.request = request;
89  node.result = &result;
90 
91  node.model1 = &model1;
92  node.model2 = &model2;
93 
94  node.otsolver = otsolver;
95 
96  node.tf1 = tf1;
97  node.tf2 = tf2;
98 
99  return true;
100 }
101 
102 } // namespace detail
103 } // namespace fcl
104 
105 #endif
bool BVTesting(int, int) const
BV test between b1 and b2.
Definition: octree_collision_traversal_node-inl.h:61
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
collision result
Definition: collision_request.h:48
CollisionRequest< NarrowPhaseSolver::S > request
request setting for collision
Definition: collision_traversal_node_base.h:72
request to the collision algorithm
Definition: collision_request.h:52
Algorithms for collision related with octree.
Definition: octree_solver.h:59
CollisionResult< NarrowPhaseSolver::S > * result
collision result kept during the traversal iteration
Definition: collision_traversal_node_base.h:75
Traversal node for octree collision.
Definition: octree_collision_traversal_node.h:58
void leafTesting(int, int) const
Leaf test between node b1 and b2, if they are both leafs.
Definition: octree_collision_traversal_node-inl.h:69