continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration More...
#include <hpp/fcl/traversal/traversal_node_bvhs.h>
Public Member Functions | |
MeshConservativeAdvancementTraversalNode (FCL_REAL w_=1) | |
FCL_REAL | BVTesting (int b1, int b2) const |
BV culling test in one BVTT node. | |
void | leafTesting (int b1, int b2) const |
Conservative advancement testing between leaves (two triangles) | |
bool | canStop (FCL_REAL c) const |
Whether the traversal process can stop early. | |
template<> | |
bool | canStop (FCL_REAL c) const |
Whether the traversal process can stop early. | |
template<> | |
bool | canStop (FCL_REAL c) const |
Whether the traversal process can stop early. | |
template<> | |
bool | canStop (FCL_REAL c) const |
Whether the traversal process can stop early. | |
Public Attributes | |
FCL_REAL | min_distance |
Vec3f | closest_p1 |
Vec3f | closest_p2 |
int | last_tri_id1 |
int | last_tri_id2 |
FCL_REAL | w |
CA controlling variable: early stop for the early iterations of CA. | |
FCL_REAL | toc |
The time from beginning point. | |
FCL_REAL | t_err |
FCL_REAL | delta_t |
The delta_t each step. | |
const MotionBase * | motion1 |
Motions for the two objects in query. | |
const MotionBase * | motion2 |
std::vector < ConservativeAdvancementStackData > | stack |
continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration
fcl::MeshConservativeAdvancementTraversalNode< BV >::MeshConservativeAdvancementTraversalNode | ( | FCL_REAL | w_ = 1 | ) | [inline] |
FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::BVTesting | ( | int | b1, |
int | b2 | ||
) | const [inline, virtual] |
BV culling test in one BVTT node.
Reimplemented from fcl::BVHDistanceTraversalNode< BV >.
Reimplemented in fcl::MeshConservativeAdvancementTraversalNodeOBBRSS, and fcl::MeshConservativeAdvancementTraversalNodeRSS.
bool fcl::MeshConservativeAdvancementTraversalNode< BV >::canStop | ( | FCL_REAL | c | ) | const [inline, virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
Reimplemented in fcl::MeshConservativeAdvancementTraversalNodeOBBRSS, and fcl::MeshConservativeAdvancementTraversalNodeRSS.
bool fcl::MeshConservativeAdvancementTraversalNode< OBB >::canStop | ( | FCL_REAL | c | ) | const [inline, virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
References fcl::details::meshConservativeAdvancementTraversalNodeCanStop().
bool fcl::MeshConservativeAdvancementTraversalNode< RSS >::canStop | ( | FCL_REAL | c | ) | const [inline, virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
References fcl::details::meshConservativeAdvancementTraversalNodeCanStop().
bool fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::canStop | ( | FCL_REAL | c | ) | const [inline, virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
References fcl::details::meshConservativeAdvancementTraversalNodeCanStop().
void fcl::MeshConservativeAdvancementTraversalNode< BV >::leafTesting | ( | int | b1, |
int | b2 | ||
) | const [inline, virtual] |
Conservative advancement testing between leaves (two triangles)
Reimplemented from fcl::MeshDistanceTraversalNode< BV >.
Reimplemented in fcl::MeshConservativeAdvancementTraversalNodeOBBRSS, and fcl::MeshConservativeAdvancementTraversalNodeRSS.
Vec3f fcl::MeshConservativeAdvancementTraversalNode< BV >::closest_p1 [mutable] |
Vec3f fcl::MeshConservativeAdvancementTraversalNode< BV >::closest_p2 [mutable] |
FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::delta_t [mutable] |
int fcl::MeshConservativeAdvancementTraversalNode< BV >::last_tri_id1 [mutable] |
int fcl::MeshConservativeAdvancementTraversalNode< BV >::last_tri_id2 [mutable] |
FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::min_distance [mutable] |
const MotionBase* fcl::MeshConservativeAdvancementTraversalNode< BV >::motion1 |
Motions for the two objects in query.
Referenced by fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::canStop(), fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::leafTesting(), and fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::MeshConservativeAdvancementTraversalNode().
const MotionBase* fcl::MeshConservativeAdvancementTraversalNode< BV >::motion2 |
std::vector<ConservativeAdvancementStackData> fcl::MeshConservativeAdvancementTraversalNode< BV >::stack [mutable] |
FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::t_err |
FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::toc |
The time from beginning point.
Referenced by fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::MeshConservativeAdvancementTraversalNode().
FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::w |
CA controlling variable: early stop for the early iterations of CA.
Referenced by fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::canStop(), fcl::initialize(), and fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::MeshConservativeAdvancementTraversalNode().