Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...
#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
Public Member Functions | |
ShapeMeshCollisionTraversalNodeOBB () | |
bool | BVTesting (int b1, int b2) const |
BV test between b1 and b2. | |
void | leafTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const |
Leaf test between node b1 and b2, if they are both leafs. |
Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::ShapeMeshCollisionTraversalNodeOBB | ( | ) | [inline] |
bool fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting | ( | int | b1, |
int | b2 | ||
) | const [inline, virtual] |
BV test between b1 and b2.
b1,b2 | Bounding volumes to test, |
Reimplemented from fcl::ShapeBVHCollisionTraversalNode< S, OBB >.
References fcl::BVNode< BV >::bv, fcl::CollisionTraversalNodeBase::enable_statistics, fcl::BVHModel< BV >::getBV(), fcl::Transform3f::getRotation(), fcl::Transform3f::getTranslation(), fcl::ShapeBVHCollisionTraversalNode< S, OBB >::model1_bv, fcl::ShapeBVHCollisionTraversalNode< S, OBB >::model2, fcl::ShapeBVHCollisionTraversalNode< S, OBB >::num_bv_tests, fcl::overlap(), and fcl::TraversalNodeBase::tf2.
void fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::leafTesting | ( | int | , |
int | , | ||
FCL_REAL & | |||
) | const [inline, virtual] |
Leaf test between node b1 and b2, if they are both leafs.
Reimplemented from fcl::CollisionTraversalNodeBase.
References fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver >::cost_density, fcl::CollisionTraversalNodeBase::enable_statistics, fcl::ShapeBVHCollisionTraversalNode< S, OBB >::model1, fcl::ShapeBVHCollisionTraversalNode< S, OBB >::model2, fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver >::nsolver, fcl::ShapeBVHCollisionTraversalNode< S, OBB >::num_leaf_tests, fcl::CollisionTraversalNodeBase::request, fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver >::tri_indices, and fcl::ShapeMeshCollisionTraversalNode< S, OBB, NarrowPhaseSolver >::vertices.