Public Member Functions | Public Attributes
fcl::BVNode< BV > Struct Template Reference

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...

#include <hpp/fcl/BV/BV_node.h>

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List of all members.

Public Member Functions

bool overlap (const BVNode &other) const
 Check whether two BVNode collide.
bool overlap (const BVNode &other, FCL_REAL &sqrDistLowerBound) const
 Check whether two BVNode collide.
FCL_REAL distance (const BVNode &other, Vec3f *P1=NULL, Vec3f *P2=NULL) const
 Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.
Vec3f getCenter () const
 Access the center of the BV.
Matrix3f getOrientation () const
 Access the orientation of the BV.
template<>
Matrix3f getOrientation () const
template<>
Matrix3f getOrientation () const
template<>
Matrix3f getOrientation () const

Public Attributes

BV bv
 bounding volume storing the geometry

Detailed Description

template<typename BV>
struct fcl::BVNode< BV >

A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.


Member Function Documentation

template<typename BV>
FCL_REAL fcl::BVNode< BV >::distance ( const BVNode< BV > &  other,
Vec3f P1 = NULL,
Vec3f P2 = NULL 
) const [inline]

Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.

template<typename BV>
Vec3f fcl::BVNode< BV >::getCenter ( ) const [inline]

Access the center of the BV.

template<typename BV>
Matrix3f fcl::BVNode< BV >::getOrientation ( ) const [inline]

Access the orientation of the BV.

template<>
Matrix3f fcl::BVNode< OBB >::getOrientation ( ) const [inline]
template<>
Matrix3f fcl::BVNode< RSS >::getOrientation ( ) const [inline]
template<>
Matrix3f fcl::BVNode< OBBRSS >::getOrientation ( ) const [inline]
template<typename BV>
bool fcl::BVNode< BV >::overlap ( const BVNode< BV > &  other) const [inline]

Check whether two BVNode collide.

template<typename BV>
bool fcl::BVNode< BV >::overlap ( const BVNode< BV > &  other,
FCL_REAL sqrDistLowerBound 
) const [inline]

Check whether two BVNode collide.


Member Data Documentation

template<typename BV>
BV fcl::BVNode< BV >::bv
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