continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration More...

#include <mesh_conservative_advancement_traversal_node.h>

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

Public Types
using	S = typename BV::S

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

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

Public Member Functions
	MeshConservativeAdvancementTraversalNode (S w_=1)

S	BVTesting (int b1, int b2) const
	BV culling test in one BVTT node.

void	leafTesting (int b1, int b2) const
	Conservative advancement testing between leaves (two triangles)

bool	canStop (S c) const
	Whether the traversal process can stop early.

Public Member Functions inherited from fcl::detail::MeshDistanceTraversalNode< BV >
void	leafTesting (int b1, int b2) const
	Distance testing between leaves (two triangles)

bool	canStop (S c) const
	Whether the traversal process can stop early.

Public Member Functions inherited from fcl::detail::BVHDistanceTraversalNode< 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.

Public Member Functions inherited from fcl::detail::DistanceTraversalNodeBase< BV::S >
virtual bool	canStop (BV::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< BV::S >
virtual void	preprocess ()

virtual void	postprocess ()

Public Attributes
S	min_distance

Vector3< S >	closest_p1

Vector3< S >	closest_p2

int	last_tri_id1

int	last_tri_id2

S	w
	CA controlling variable: early stop for the early iterations of CA.

S	toc
	The time from beginning point.

S	t_err

S	delta_t
	The delta_t each step.

const MotionBase< S > *	motion1
	Motions for the two objects in query.

const MotionBase< S > *	motion2

std::vector< ConservativeAdvancementStackData< S > >	stack

Public Attributes inherited from fcl::detail::MeshDistanceTraversalNode< BV >
Vector3< S > *	vertices1

Vector3< S > *	vertices2

Triangle *	tri_indices1

Triangle *	tri_indices2

S	rel_err
	relative and absolute error, default value is 0.01 for both terms

S	abs_err

Public Attributes inherited from fcl::detail::BVHDistanceTraversalNode< 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::DistanceTraversalNodeBase< BV::S >
DistanceRequest< BV::S >	request
	request setting for distance

DistanceResult< BV::S > *	result
	distance 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

Friends
template<typename , typename >
struct	CanStopImpl

Detailed Description

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

continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration

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

/home/js/dev/fcl/master/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.h
/home/js/dev/fcl/master/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

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

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