Public Member Functions | Public Attributes
fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver > Class Template Reference

Traversal node for collision between shape and mesh. More...

#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>

Inheritance diagram for fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >:
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Collaboration diagram for fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >:
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List of all members.

Public Member Functions

 ShapeMeshCollisionTraversalNode ()
void leafTesting (int b1, int b2) const
 Intersection testing between leaves (one shape and one triangle)
bool canStop () const
 Whether the traversal process can stop early.

Public Attributes

Vec3fvertices
Triangletri_indices
FCL_REAL cost_density
const NarrowPhaseSolver * nsolver

Detailed Description

template<typename S, typename BV, typename NarrowPhaseSolver>
class fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >

Traversal node for collision between shape and mesh.


Constructor & Destructor Documentation

template<typename S, typename BV, typename NarrowPhaseSolver>
fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::ShapeMeshCollisionTraversalNode ( ) [inline]

Member Function Documentation

template<typename S, typename BV, typename NarrowPhaseSolver>
bool fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::canStop ( ) const [inline, virtual]

Whether the traversal process can stop early.

Reimplemented from fcl::CollisionTraversalNodeBase.

template<typename S, typename BV, typename NarrowPhaseSolver>
void fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::leafTesting ( int  b1,
int  b2 
) const [inline]

Intersection testing between leaves (one shape and one triangle)


Member Data Documentation

template<typename S, typename BV, typename NarrowPhaseSolver>
FCL_REAL fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::cost_density
template<typename S, typename BV, typename NarrowPhaseSolver>
const NarrowPhaseSolver* fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::nsolver
template<typename S, typename BV, typename NarrowPhaseSolver>
Triangle* fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::tri_indices
template<typename S, typename BV, typename NarrowPhaseSolver>
Vec3f* fcl::ShapeMeshCollisionTraversalNode< S, BV, NarrowPhaseSolver >::vertices
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