Traversal node for continuous collision between meshes. More...

Inheritance diagram for fcl::detail::MeshContinuousCollisionTraversalNode< BV >:

Public Types
using	S = typename BV::S

Public Types inherited from fcl::detail::BVHCollisionTraversalNode< BV >
using	S = typename BV::S

Public Member Functions
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< BV >
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< BV::S >
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 ()

Public Attributes
Vector3< S > *	vertices1

Vector3< S > *	vertices2

Triangle *	tri_indices1

Triangle *	tri_indices2

Vector3< S > *	prev_vertices1

Vector3< S > *	prev_vertices2

int	num_vf_tests

int	num_ee_tests

std::vector< BVHContinuousCollisionPair< S > >	pairs

S	time_of_contact

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

const BVHModel< BV > *	model2
	The second BVH model.

int	num_bv_tests
	statistical information

int	num_leaf_tests

S	query_time_seconds

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

Traversal node for continuous collision between meshes.

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

/home/js/dev/fcl/master/include/fcl/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node.h
/home/js/dev/fcl/master/include/fcl/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node-inl.h

Public Types