fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver > Class Template Reference

Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...

#include <shape_mesh_collision_traversal_node.h>

Inheritance diagram for fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >:

Public Member Functions
bool	BVTesting (int b1, int b2) const
	BV test between b1 and b2.
void	leafTesting (int b1, int b2) const
	Leaf test between node b1 and b2, if they are both leafs.
Public Member Functions inherited from fcl::detail::ShapeMeshCollisionTraversalNode< Shape, OBB< Shape::S >, NarrowPhaseSolver >
void	leafTesting (int b1, int b2) const
	Intersection testing between leaves (one shape and one triangle)
bool	canStop () const
	Whether the traversal process can stop early.
Public Member Functions inherited from fcl::detail::ShapeBVHCollisionTraversalNode< Shape, OBB< Shape::S > >
bool	firstOverSecond (int, int) const
	Alway extend the second model, which is a BVH model.
bool	isSecondNodeLeaf (int b) const
	Whether the BV node in the second BVH tree is leaf.
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.
bool	BVTesting (int b1, int b2) const
	BV culling test in one BVTT node.
Public Member Functions inherited from fcl::detail::CollisionTraversalNodeBase< OBB< Shape::S >::S >
void	enableStatistics (bool enable)
	Whether store some statistics information during traversal.
Public Member Functions inherited from fcl::detail::TraversalNodeBase< OBB< Shape::S >::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 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.

Additional Inherited Members
Public Types inherited from fcl::detail::ShapeMeshCollisionTraversalNode< Shape, OBB< Shape::S >, NarrowPhaseSolver >
using	S = typename OBB< Shape::S >::S
Public Types inherited from fcl::detail::ShapeBVHCollisionTraversalNode< Shape, OBB< Shape::S > >
using	S = typename OBB< Shape::S >::S
Public Attributes inherited from fcl::detail::ShapeMeshCollisionTraversalNode< Shape, OBB< Shape::S >, NarrowPhaseSolver >
Vector3< S > *	vertices
Triangle *	tri_indices
S	cost_density
const NarrowPhaseSolver *	nsolver
Public Attributes inherited from fcl::detail::ShapeBVHCollisionTraversalNode< Shape, OBB< Shape::S > >
const Shape *	model1
const BVHModel< OBB< Shape::S > > *	model2
OBB< Shape::S >	model1_bv
int	num_bv_tests
int	num_leaf_tests
S	query_time_seconds
Public Attributes inherited from fcl::detail::CollisionTraversalNodeBase< OBB< Shape::S >::S >
CollisionRequest< OBB< Shape::S >::S >	request
	request setting for collision
CollisionResult< OBB< Shape::S >::S > *	result
	collision result kept during the traversal iteration
bool	enable_statistics
	Whether stores statistics.
Public Attributes inherited from fcl::detail::TraversalNodeBase< OBB< Shape::S >::S >
Transform3< OBB< Shape::S >::S >	tf1
	configuation of first object
Transform3< OBB< Shape::S >::S >	tf2
	configuration of second object

Detailed Description

template<typename Shape, typename NarrowPhaseSolver>
class fcl::detail::ShapeMeshCollisionTraversalNodeOBB< Shape, NarrowPhaseSolver >

Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)

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

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