FCL  0.6.0
Flexible Collision Library
fcl::detail::MeshShapeDistanceTraversalNodeRSS< Shape, NarrowPhaseSolver > Class Template Reference

Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS) More...

#include <mesh_shape_distance_traversal_node.h>

Inheritance diagram for fcl::detail::MeshShapeDistanceTraversalNodeRSS< Shape, NarrowPhaseSolver >:
fcl::detail::MeshShapeDistanceTraversalNode< RSS< Shape::S >, Shape, NarrowPhaseSolver > fcl::detail::BVHShapeDistanceTraversalNode< RSS< Shape::S >, Shape > fcl::detail::DistanceTraversalNodeBase< RSS< Shape::S >::S > fcl::detail::TraversalNodeBase< RSS< Shape::S >::S >

Public Types

using S = typename Shape::S
 
- Public Types inherited from fcl::detail::MeshShapeDistanceTraversalNode< RSS< Shape::S >, Shape, NarrowPhaseSolver >
using S = typename RSS< Shape::S >::S
 
- Public Types inherited from fcl::detail::BVHShapeDistanceTraversalNode< RSS< Shape::S >, Shape >
using S = typename RSS< Shape::S >::S
 

Public Member Functions

void preprocess ()
 
void postprocess ()
 
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.
 
- Public Member Functions inherited from fcl::detail::MeshShapeDistanceTraversalNode< RSS< Shape::S >, Shape, NarrowPhaseSolver >
void leafTesting (int b1, int b2) const
 Distance testing between leaves (one triangle and one shape)
 
bool canStop (S c) const
 Whether the traversal process can stop early.
 
- Public Member Functions inherited from fcl::detail::BVHShapeDistanceTraversalNode< RSS< Shape::S >, Shape >
bool isFirstNodeLeaf (int b) const
 Whether the BV node in the first BVH tree is leaf.
 
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.
 
BVTesting (int b1, int b2) const
 BV culling test in one BVTT node.
 
- Public Member Functions inherited from fcl::detail::DistanceTraversalNodeBase< RSS< Shape::S >::S >
virtual bool canStop (RSS< Shape::S >::Sc) 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< RSS< Shape::S >::S >
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 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.
 

Additional Inherited Members

- Public Attributes inherited from fcl::detail::MeshShapeDistanceTraversalNode< RSS< Shape::S >, Shape, NarrowPhaseSolver >
Vector3< S > * vertices
 
Triangletri_indices
 
rel_err
 
abs_err
 
const NarrowPhaseSolver * nsolver
 
- Public Attributes inherited from fcl::detail::BVHShapeDistanceTraversalNode< RSS< Shape::S >, Shape >
const BVHModel< RSS< Shape::S > > * model1
 
const Shape * model2
 
RSS< Shape::S > model2_bv
 
int num_bv_tests
 
int num_leaf_tests
 
query_time_seconds
 
- Public Attributes inherited from fcl::detail::DistanceTraversalNodeBase< RSS< Shape::S >::S >
DistanceRequest< RSS< Shape::S >::S > request
 request setting for distance
 
DistanceResult< RSS< Shape::S >::S > * result
 distance result kept during the traversal iteration
 
bool enable_statistics
 Whether stores statistics.
 
- Public Attributes inherited from fcl::detail::TraversalNodeBase< RSS< Shape::S >::S >
Transform3< RSS< Shape::S >::S > tf1
 configuation of first object
 
Transform3< RSS< Shape::S >::S > tf2
 configuration of second object
 

Detailed Description

template<typename Shape, typename NarrowPhaseSolver>
class fcl::detail::MeshShapeDistanceTraversalNodeRSS< Shape, NarrowPhaseSolver >

Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS)


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