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>
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. | |
const Matrix3f & | getOrientation () const |
Access the orientation of the BV. | |
template<> | |
const Matrix3f & | getOrientation () const |
template<> | |
const Matrix3f & | getOrientation () const |
template<> | |
const Matrix3f & | getOrientation () const |
Public Attributes | |
BV | bv |
bounding volume storing the geometry |
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.
FCL_REAL fcl::BVNode< BV >::distance | ( | const BVNode< BV > & | other, |
Vec3f * | P1 = NULL , |
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Vec3f * | P2 = NULL |
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) | const [inline] |
Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.
Vec3f fcl::BVNode< BV >::getCenter | ( | ) | const [inline] |
Access the center of the BV.
const Matrix3f& fcl::BVNode< BV >::getOrientation | ( | ) | const [inline] |
Access the orientation of the BV.
const Matrix3f & fcl::BVNode< OBB >::getOrientation | ( | ) | const [inline] |
const Matrix3f & fcl::BVNode< RSS >::getOrientation | ( | ) | const [inline] |
const Matrix3f & fcl::BVNode< OBBRSS >::getOrientation | ( | ) | const [inline] |
bool fcl::BVNode< BV >::overlap | ( | const BVNode< BV > & | other | ) | const [inline] |
Check whether two BVNode collide.
bool fcl::BVNode< BV >::overlap | ( | const BVNode< BV > & | other, |
FCL_REAL & | sqrDistLowerBound | ||
) | const [inline] |
Check whether two BVNode collide.
BV fcl::BVNode< BV >::bv |
bounding volume storing the geometry
Referenced by fcl::BVHExpand(), fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::MeshShapeCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodekIOS< S, NarrowPhaseSolver >::BVTesting(), fcl::ShapeMeshCollisionTraversalNodeOBBRSS< S, NarrowPhaseSolver >::BVTesting(), fcl::BVNode< OBBRSS >::distance(), fcl::BVNode< OBBRSS >::getCenter(), and fcl::BVNode< OBBRSS >::overlap().