#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
Public Member Functions | |
ShapeMeshConservativeAdvancementTraversalNodeOBBRSS (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 (one triangle and one shape) | |
bool | canStop (FCL_REAL c) const |
Whether the traversal process can stop early. |
fcl::ShapeMeshConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver >::ShapeMeshConservativeAdvancementTraversalNodeOBBRSS | ( | FCL_REAL | w_ = 1 | ) | [inline] |
FCL_REAL fcl::ShapeMeshConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting | ( | int | b1, |
int | b2 | ||
) | const [inline, virtual] |
BV culling test in one BVTT node.
Reimplemented from fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >.
References d(), fcl::distance(), fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >::model1_bv, fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >::num_bv_tests, and fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::stack.
bool fcl::ShapeMeshConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver >::canStop | ( | FCL_REAL | c | ) | const [inline, virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >.
References fcl::ShapeMeshDistanceTraversalNode< S, OBBRSS, NarrowPhaseSolver >::abs_err, fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::delta_t, fcl::details::meshShapeConservativeAdvancementOrientedNodeCanStop(), fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::min_distance, fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >::model1_bv, fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::motion1, fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::motion2, fcl::ShapeMeshDistanceTraversalNode< S, OBBRSS, NarrowPhaseSolver >::rel_err, fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::stack, and fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::w.
void fcl::ShapeMeshConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver >::leafTesting | ( | int | b1, |
int | b2 | ||
) | const [inline, virtual] |
Conservative advancement testing between leaves (one triangle and one shape)
Reimplemented from fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >.
References fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::delta_t, fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::last_tri_id, fcl::details::meshShapeConservativeAdvancementOrientedNodeLeafTesting(), fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::min_distance, fcl::ShapeBVHDistanceTraversalNode< S, OBBRSS >::model1_bv, fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::motion1, and fcl::ShapeMeshConservativeAdvancementTraversalNode< S, OBBRSS, NarrowPhaseSolver >::motion2.