Traversal node for conservative advancement computation between BVH and shape. More...
#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
Public Member Functions | |
MeshShapeConservativeAdvancementTraversalNode (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. | |
Public Attributes | |
FCL_REAL | min_distance |
Vec3f | closest_p1 |
Vec3f | closest_p2 |
int | last_tri_id |
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 |
Traversal node for conservative advancement computation between BVH and shape.
fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::MeshShapeConservativeAdvancementTraversalNode | ( | FCL_REAL | w_ = 1 | ) | [inline] |
FCL_REAL fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::BVTesting | ( | int | b1, |
int | b2 | ||
) | const [inline, virtual] |
BV culling test in one BVTT node.
Reimplemented from fcl::BVHShapeDistanceTraversalNode< BV, S >.
Reimplemented in fcl::MeshShapeConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver >, and fcl::MeshShapeConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver >.
bool fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::canStop | ( | FCL_REAL | c | ) | const [inline, virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >.
Reimplemented in fcl::MeshShapeConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver >, and fcl::MeshShapeConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver >.
void fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::leafTesting | ( | int | b1, |
int | b2 | ||
) | const [inline, virtual] |
Conservative advancement testing between leaves (one triangle and one shape)
Reimplemented from fcl::MeshShapeDistanceTraversalNode< BV, S, NarrowPhaseSolver >.
Reimplemented in fcl::MeshShapeConservativeAdvancementTraversalNodeOBBRSS< S, NarrowPhaseSolver >, and fcl::MeshShapeConservativeAdvancementTraversalNodeRSS< S, NarrowPhaseSolver >.
Vec3f fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::closest_p1 [mutable] |
Vec3f fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::closest_p2 [mutable] |
FCL_REAL fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::delta_t [mutable] |
The delta_t each step.
Referenced by fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::canStop(), fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::MeshShapeConservativeAdvancementTraversalNode().
int fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::last_tri_id [mutable] |
FCL_REAL fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::min_distance [mutable] |
const MotionBase* fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::motion1 |
Motions for the two objects in query.
Referenced by fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::canStop(), fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::MeshShapeConservativeAdvancementTraversalNode().
const MotionBase* fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::motion2 |
Referenced by fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::canStop(), fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::MeshShapeConservativeAdvancementTraversalNode().
std::vector<ConservativeAdvancementStackData> fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::stack [mutable] |
FCL_REAL fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::t_err |
FCL_REAL fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::toc |
The time from beginning point.
Referenced by fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::MeshShapeConservativeAdvancementTraversalNode().
FCL_REAL fcl::MeshShapeConservativeAdvancementTraversalNode< BV, S, NarrowPhaseSolver >::w |
CA controlling variable: early stop for the early iterations of CA.
Referenced by fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::canStop(), fcl::initialize(), and fcl::MeshShapeConservativeAdvancementTraversalNode< OBBRSS, S, NarrowPhaseSolver >::MeshShapeConservativeAdvancementTraversalNode().