Traversal node for collision between two meshes. More...
#include <hpp/fcl/traversal/traversal_node_bvhs.h>
Public Member Functions | |
MeshCollisionTraversalNode (bool enable_distance_lower_bound) | |
void | leafTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const |
Intersection testing between leaves (two triangles) | |
bool | canStop () const |
Whether the traversal process can stop early. | |
Public Attributes | |
Vec3f * | vertices1 |
Vec3f * | vertices2 |
Triangle * | tri_indices1 |
Triangle * | tri_indices2 |
FCL_REAL | cost_density |
Traversal node for collision between two meshes.
fcl::MeshCollisionTraversalNode< BV >::MeshCollisionTraversalNode | ( | bool | enable_distance_lower_bound | ) | [inline] |
bool fcl::MeshCollisionTraversalNode< BV >::canStop | ( | ) | const [inline, virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::CollisionTraversalNodeBase.
void fcl::MeshCollisionTraversalNode< BV >::leafTesting | ( | int | b1, |
int | b2, | ||
FCL_REAL & | sqrDistLowerBound | ||
) | const [inline, virtual] |
Intersection testing between leaves (two triangles)
Reimplemented from fcl::CollisionTraversalNodeBase.
Reimplemented in fcl::MeshCollisionTraversalNodeOBBRSS, fcl::MeshCollisionTraversalNodekIOS, fcl::MeshCollisionTraversalNodeRSS, and fcl::MeshCollisionTraversalNodeOBB.
FCL_REAL fcl::MeshCollisionTraversalNode< BV >::cost_density |
Referenced by fcl::initialize(), and fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting().
Triangle* fcl::MeshCollisionTraversalNode< BV >::tri_indices1 |
Triangle* fcl::MeshCollisionTraversalNode< BV >::tri_indices2 |
Vec3f* fcl::MeshCollisionTraversalNode< BV >::vertices1 |
Vec3f* fcl::MeshCollisionTraversalNode< BV >::vertices2 |