FCL  0.6.0
Flexible Collision Library
octree_shape_collision_traversal_node-inl.h
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35 
38 #ifndef FCL_TRAVERSAL_OCTREE_OCTREESHAPECOLLISIONTRAVERSALNODE_INL_H
39 #define FCL_TRAVERSAL_OCTREE_OCTREESHAPECOLLISIONTRAVERSALNODE_INL_H
40 
41 #include "fcl/narrowphase/detail/traversal/octree/collision/octree_shape_collision_traversal_node.h"
42 
43 namespace fcl
44 {
45 
46 namespace detail
47 {
48 
49 //==============================================================================
50 template <typename Shape, typename NarrowPhaseSolver>
51 OcTreeShapeCollisionTraversalNode<Shape, NarrowPhaseSolver>::
52 OcTreeShapeCollisionTraversalNode()
53 {
54  model1 = nullptr;
55  model2 = nullptr;
56 
57  otsolver = nullptr;
58 }
59 
60 //==============================================================================
61 template <typename Shape, typename NarrowPhaseSolver>
63 BVTesting(int, int) const
64 {
65  return false;
66 }
67 
68 //==============================================================================
69 template <typename Shape, typename NarrowPhaseSolver>
71 leafTesting(int, int) const
72 {
73  otsolver->OcTreeShapeIntersect(
74  model1, *model2, tf1, tf2, this->request, *this->result);
75 }
76 
77 //==============================================================================
78 template <typename Shape, typename NarrowPhaseSolver>
79 bool initialize(
81  const OcTree<typename Shape::S>& model1,
82  const Transform3<typename Shape::S>& tf1,
83  const Shape& model2,
84  const Transform3<typename Shape::S>& tf2,
85  const OcTreeSolver<NarrowPhaseSolver>* otsolver,
88 {
89  node.request = request;
90  node.result = &result;
91 
92  node.model1 = &model1;
93  node.model2 = &model2;
94 
95  node.otsolver = otsolver;
96 
97  node.tf1 = tf1;
98  node.tf2 = tf2;
99 
100  return true;
101 }
102 
103 } // namespace detail
104 } // namespace fcl
105 
106 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
collision result
Definition: collision_request.h:48
void leafTesting(int, int) const
Leaf test between node b1 and b2, if they are both leafs.
Definition: octree_shape_collision_traversal_node-inl.h:71
CollisionRequest< Shape::S > request
request setting for collision
Definition: collision_traversal_node_base.h:72
request to the collision algorithm
Definition: collision_request.h:52
Algorithms for collision related with octree.
Definition: octree_solver.h:59
Traversal node for octree-shape collision.
Definition: octree_shape_collision_traversal_node.h:59
CollisionResult< Shape::S > * result
collision result kept during the traversal iteration
Definition: collision_traversal_node_base.h:75
bool BVTesting(int, int) const
BV test between b1 and b2.
Definition: octree_shape_collision_traversal_node-inl.h:63