FCL
0.6.0
Flexible Collision Library

Traversal node for collision between two shapes. More...
#include <shape_collision_traversal_node.h>
Public Types  
using  S = typename Shape1::S 
Public Member Functions  
bool  BVTesting (int, int) const 
BV culling test in one BVTT node.  
void  leafTesting (int, int) const 
Intersection testing between leaves (two shapes)  
Public Member Functions inherited from fcl::detail::CollisionTraversalNodeBase< Shape1::S >  
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< 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 
S  cost_density 
const NarrowPhaseSolver *  nsolver 
Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< Shape1::S >  
CollisionRequest< Shape1::S >  request 
request setting for collision  
CollisionResult< Shape1::S > *  result 
collision 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  
Traversal node for collision between two shapes.