Public Member Functions | Public Attributes
fcl::MeshCollisionTraversalNode< BV > Class Template Reference

Traversal node for collision between two meshes. More...

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

Inheritance diagram for fcl::MeshCollisionTraversalNode< BV >:
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Collaboration diagram for fcl::MeshCollisionTraversalNode< BV >:
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List of all members.

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

Vec3fvertices1
Vec3fvertices2
Triangletri_indices1
Triangletri_indices2
FCL_REAL cost_density

Detailed Description

template<typename BV>
class fcl::MeshCollisionTraversalNode< BV >

Traversal node for collision between two meshes.


Constructor & Destructor Documentation

template<typename BV>
fcl::MeshCollisionTraversalNode< BV >::MeshCollisionTraversalNode ( bool  enable_distance_lower_bound) [inline]

Member Function Documentation

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

Whether the traversal process can stop early.

Reimplemented from fcl::CollisionTraversalNodeBase.

template<typename BV>
void fcl::MeshCollisionTraversalNode< BV >::leafTesting ( int  b1,
int  b2,
FCL_REAL sqrDistLowerBound 
) const [inline, virtual]

Member Data Documentation

template<typename BV>
Triangle* fcl::MeshCollisionTraversalNode< BV >::tri_indices1
template<typename BV>
Triangle* fcl::MeshCollisionTraversalNode< BV >::tri_indices2
template<typename BV>
Vec3f* fcl::MeshCollisionTraversalNode< BV >::vertices1
template<typename BV>
Vec3f* fcl::MeshCollisionTraversalNode< BV >::vertices2
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