Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS) More...
#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
Public Member Functions | |
MeshShapeCollisionTraversalNodeOBB (bool enable_distance_lower_bound=false) | |
bool | BVTesting (int b1, int b2) const |
BV culling test in one BVTT node. | |
void | leafTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const |
Leaf test between node b1 and b2, if they are both leafs. |
Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::MeshShapeCollisionTraversalNodeOBB | ( | bool | enable_distance_lower_bound = false | ) | [inline] |
bool fcl::MeshShapeCollisionTraversalNodeOBB< S, NarrowPhaseSolver >::BVTesting | ( | int | b1, |
int | b2 | ||
) | const [inline, virtual] |
BV culling test in one BVTT node.
Reimplemented from fcl::BVHShapeCollisionTraversalNode< OBB, S >.
References fcl::BVNode< BV >::bv, fcl::CollisionTraversalNodeBase::enable_statistics, fcl::BVHModel< BV >::getBV(), fcl::Transform3f::getRotation(), fcl::Transform3f::getTranslation(), fcl::BVHShapeCollisionTraversalNode< OBB, S >::model1, fcl::BVHShapeCollisionTraversalNode< OBB, S >::model2_bv, fcl::BVHShapeCollisionTraversalNode< OBB, S >::num_bv_tests, fcl::overlap(), and fcl::TraversalNodeBase::tf1.
void fcl::MeshShapeCollisionTraversalNodeOBB< S, 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::MeshShapeCollisionTraversalNode< OBB, S, NarrowPhaseSolver >::cost_density, fcl::CollisionTraversalNodeBase::enable_statistics, fcl::BVHShapeCollisionTraversalNode< OBB, S >::model1, fcl::BVHShapeCollisionTraversalNode< OBB, S >::model2, fcl::MeshShapeCollisionTraversalNode< OBB, S, NarrowPhaseSolver >::nsolver, fcl::BVHShapeCollisionTraversalNode< OBB, S >::num_leaf_tests, fcl::CollisionTraversalNodeBase::request, fcl::CollisionTraversalNodeBase::result, fcl::TraversalNodeBase::tf1, fcl::TraversalNodeBase::tf2, fcl::MeshShapeCollisionTraversalNode< OBB, S, NarrowPhaseSolver >::tri_indices, and fcl::MeshShapeCollisionTraversalNode< OBB, S, NarrowPhaseSolver >::vertices.