Traversal node for collision between two shapes. More...
#include <hpp/fcl/traversal/traversal_node_shapes.h>
Public Member Functions | |
ShapeCollisionTraversalNode () | |
bool | BVTesting (int, int) const |
BV culling test in one BVTT node. | |
bool | BVTesting (int, int, FCL_REAL &) const |
BV culling test in one BVTT node. | |
void | leafTesting (int, int, FCL_REAL &) const |
Intersection testing between leaves (two shapes) | |
Public Attributes | |
const S1 * | model1 |
const S2 * | model2 |
FCL_REAL | cost_density |
const NarrowPhaseSolver * | nsolver |
Traversal node for collision between two shapes.
fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::ShapeCollisionTraversalNode | ( | ) | [inline] |
bool fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::BVTesting | ( | int | , |
int | |||
) | const [inline, virtual] |
BV culling test in one BVTT node.
Implements fcl::CollisionTraversalNodeBase.
bool fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::BVTesting | ( | int | , |
int | , | ||
FCL_REAL & | |||
) | const [inline, virtual] |
BV culling test in one BVTT node.
Implements fcl::CollisionTraversalNodeBase.
void fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting | ( | int | , |
int | , | ||
FCL_REAL & | |||
) | const [inline, virtual] |
Intersection testing between leaves (two shapes)
Reimplemented from fcl::CollisionTraversalNodeBase.
References fcl::CollisionResult::addContact(), fcl::CollisionResult::addCostSource(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::cost_density, fcl::CollisionRequest::enable_contact, fcl::CollisionRequest::enable_cost, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model1, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model2, fcl::Contact::NONE, fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver, fcl::CollisionRequest::num_max_contacts, fcl::CollisionRequest::num_max_cost_sources, fcl::CollisionResult::numContacts(), fcl::AABB::overlap(), fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::TraversalNodeBase::tf1, and fcl::TraversalNodeBase::tf2.
FCL_REAL fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::cost_density |
const S1* fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model1 |
const S2* fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::model2 |
const NarrowPhaseSolver* fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::nsolver |