Traversal node for distance between two shapes. More...

Inheritance diagram for fcl::detail::ShapeDistanceTraversalNode< Shape1, Shape2, NarrowPhaseSolver >:

Public Member Functions
S	BVTesting (int, int) const
	BV culling test in one BVTT node.

void	leafTesting (int, int) const
	Distance testing between leaves (two shapes)

Public Member Functions inherited from fcl::detail::DistanceTraversalNodeBase< Shape1::S >
virtual bool	canStop (Shape1::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< Shape1::S >
virtual void	preprocess ()

virtual void	postprocess ()

virtual bool	isFirstNodeLeaf (int b) const
	Whether b is a leaf node in the first BVH tree.

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	getFirstLeftChild (int b) const
	Get the left child of the node b in the first tree.

virtual int	getFirstRightChild (int b) const
	Get the right child of the node b in the first tree.

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.

Public Attributes
const Shape1 *	model1

const Shape2 *	model2

const NarrowPhaseSolver *	nsolver

Public Attributes inherited from fcl::detail::DistanceTraversalNodeBase< Shape1::S >
DistanceRequest< Shape1::S >	request
	request setting for distance

DistanceResult< Shape1::S > *	result
	distance result kept during the traversal iteration

bool	enable_statistics
	Whether stores statistics.

Public Attributes inherited from fcl::detail::TraversalNodeBase< Shape1::S >
Transform3< Shape1::S >	tf1
	configuation of first object

Transform3< Shape1::S >	tf2
	configuration of second object

Detailed Description

Traversal node for distance between two shapes.

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

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

Public Types