Traversal node for mesh-octree collision. More...
#include <hpp/fcl/traversal/traversal_node_octree.h>
Public Member Functions | |
MeshOcTreeCollisionTraversalNode () | |
bool | BVTesting (int, int) const |
BV test between b1 and b2. | |
bool | BVTesting (int, int, FCL_REAL &) const |
BV test between b1 and b2. | |
void | leafTesting (int, int, FCL_REAL &) const |
Leaf test between node b1 and b2, if they are both leafs. | |
Public Attributes | |
const BVHModel< BV > * | model1 |
const OcTree * | model2 |
Transform3f | tf1 |
configuation of first object | |
Transform3f | tf2 |
configuration of second object | |
const OcTreeSolver < NarrowPhaseSolver > * | otsolver |
Traversal node for mesh-octree collision.
fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::MeshOcTreeCollisionTraversalNode | ( | ) | [inline] |
bool fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::BVTesting | ( | int | b1, |
int | b2 | ||
) | const [inline, virtual] |
BV test between b1 and b2.
Implements fcl::CollisionTraversalNodeBase.
bool fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::BVTesting | ( | int | b1, |
int | b2, | ||
FCL_REAL & | sqrDistLowerBound | ||
) | const [inline, virtual] |
BV test between b1 and b2.
b1,b2 | Bounding volumes to test, |
sqrDistLowerBound | square of a lower bound of the minimal distance between bounding volumes. |
Implements fcl::CollisionTraversalNodeBase.
void fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::leafTesting | ( | int | , |
int | , | ||
FCL_REAL & | |||
) | const [inline, virtual] |
Leaf test between node b1 and b2, if they are both leafs.
Reimplemented from fcl::CollisionTraversalNodeBase.
References fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::model1, fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::model2, fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::otsolver, fcl::CollisionTraversalNodeBase::request, and fcl::CollisionTraversalNodeBase::result.
const BVHModel<BV>* fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::model1 |
const OcTree* fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::model2 |
const OcTreeSolver<NarrowPhaseSolver>* fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::otsolver |
Transform3f fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::tf1 |
configuation of first object
Reimplemented from fcl::TraversalNodeBase.
Transform3f fcl::MeshOcTreeCollisionTraversalNode< BV, NarrowPhaseSolver >::tf2 |
configuration of second object
Reimplemented from fcl::TraversalNodeBase.