Traversal node for collision between mesh and shape. More...

Inheritance diagram for fcl::detail::MeshShapeCollisionTraversalNode< BV, Shape, NarrowPhaseSolver >:

Public Types
using	S = typename BV::S

Public Types inherited from fcl::detail::BVHShapeCollisionTraversalNode< BV, Shape >
using	S = typename BV::S

Public Member Functions
void	leafTesting (int b1, int b2) const
	Intersection testing between leaves (one triangle and one shape)

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

Public Member Functions inherited from fcl::detail::BVHShapeCollisionTraversalNode< BV, 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.

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 ()

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.

Public Attributes
Vector3< S > *	vertices

Triangle *	tri_indices

S	cost_density

const NarrowPhaseSolver *	nsolver

Public Attributes inherited from fcl::detail::BVHShapeCollisionTraversalNode< BV, Shape >
const BVHModel< BV > *	model1

const Shape *	model2

BV	model2_bv

int	num_bv_tests

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 collision between mesh and shape.

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

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

Public Types