FCL  0.6.0
Flexible Collision Library
fcl::detail::BVHCollisionTraversalNode< BV > Class Template Reference

Traversal node for collision between BVH models. More...

#include <bvh_collision_traversal_node.h>

Inheritance diagram for fcl::detail::BVHCollisionTraversalNode< BV >:
fcl::detail::CollisionTraversalNodeBase< BV::S > fcl::detail::TraversalNodeBase< BV::S > fcl::detail::MeshCollisionTraversalNode< BV > fcl::detail::MeshContinuousCollisionTraversalNode< BV >

Public Types

using S = typename BV::S
 

Public Member Functions

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 >
virtual void leafTesting (int b1, int b2) const
 Leaf test between node b1 and b2, if they are both leafs.
 
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 ()
 

Public Attributes

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
 
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

template<typename BV>
class fcl::detail::BVHCollisionTraversalNode< BV >

Traversal node for collision between BVH models.


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