FCL  0.6.0 Flexible Collision Library
fcl::detail::MeshDistanceTraversalNodeRSS< S > Class Template Reference

Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS) More...

`#include <mesh_distance_traversal_node.h>`

Inheritance diagram for fcl::detail::MeshDistanceTraversalNodeRSS< S >:

## Public Member Functions

void preprocess ()

void postprocess ()

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::MeshDistanceTraversalNode< RSS< S > >
void leafTesting (int b1, int b2) const
Distance testing between leaves (two triangles)

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

Public Member Functions inherited from fcl::detail::BVHDistanceTraversalNode< RSS< S > >
bool isFirstNodeLeaf (int b) const
Whether the BV node in the first BVH tree is leaf.

bool isSecondNodeLeaf (int b) const
Whether the BV node in the second BVH tree is leaf.

bool firstOverSecond (int b1, int b2) const
Determine the traversal order, is the first BVTT subtree better.

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.

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.

BVTesting (int b1, int b2) const
BV culling test in one BVTT node.

Public Member Functions inherited from fcl::detail::DistanceTraversalNodeBase< RSS< S >::S >
virtual bool canStop (RSS< S >::Sc) const
Check whether the traversal can stop.

void enableStatistics (bool enable)
Whether store some statistics information during traversal.

## Public Attributes

Transform3< S > tf

Public Attributes inherited from fcl::detail::MeshDistanceTraversalNode< RSS< S > >
Vector3< S > * vertices1

Vector3< S > * vertices2

Triangletri_indices1

Triangletri_indices2

rel_err
relative and absolute error, default value is 0.01 for both terms

abs_err

Public Attributes inherited from fcl::detail::BVHDistanceTraversalNode< RSS< S > >
const BVHModel< RSS< S > > * model1
The first BVH model.

const BVHModel< RSS< S > > * model2
The second BVH model.

int num_bv_tests
statistical information

int num_leaf_tests

query_time_seconds

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

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

bool enable_statistics
Whether stores statistics.

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

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

Public Types inherited from fcl::detail::MeshDistanceTraversalNode< RSS< S > >
using S = typename RSS< S >::S

Public Types inherited from fcl::detail::BVHDistanceTraversalNode< RSS< S > >
using S = typename RSS< S >::S

## Detailed Description

### template<typename S> class fcl::detail::MeshDistanceTraversalNodeRSS< S >

Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS)

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