Traversal node for distance computation between shape and BVH. More...
#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
Public Member Functions | |
ShapeBVHDistanceTraversalNode () | |
bool | isSecondNodeLeaf (int b) const |
Whether the BV node in the second BVH tree is leaf. | |
int | getSecondLeftChild (int b) const |
Obtain the left child of BV node in the second BVH. | |
int | getSecondRightChild (int b) const |
Obtain the right child of BV node in the second BVH. | |
FCL_REAL | BVTesting (int b1, int b2) const |
BV culling test in one BVTT node. | |
Public Attributes | |
const S * | model1 |
const BVHModel< BV > * | model2 |
BV | model1_bv |
int | num_bv_tests |
int | num_leaf_tests |
FCL_REAL | query_time_seconds |
Traversal node for distance computation between shape and BVH.
fcl::ShapeBVHDistanceTraversalNode< S, BV >::ShapeBVHDistanceTraversalNode | ( | ) | [inline] |
FCL_REAL fcl::ShapeBVHDistanceTraversalNode< S, BV >::BVTesting | ( | int | b1, |
int | b2 | ||
) | const [inline, virtual] |
BV culling test in one BVTT node.
Reimplemented from fcl::DistanceTraversalNodeBase.
Reimplemented in fcl::ShapeMeshDistanceTraversalNodeOBBRSS< S, NarrowPhaseSolver >, fcl::ShapeMeshDistanceTraversalNodekIOS< S, NarrowPhaseSolver >, and fcl::ShapeMeshDistanceTraversalNodeRSS< S, NarrowPhaseSolver >.
int fcl::ShapeBVHDistanceTraversalNode< S, BV >::getSecondLeftChild | ( | int | b | ) | const [inline, virtual] |
Obtain the left child of BV node in the second BVH.
Reimplemented from fcl::TraversalNodeBase.
int fcl::ShapeBVHDistanceTraversalNode< S, BV >::getSecondRightChild | ( | int | b | ) | const [inline, virtual] |
Obtain the right child of BV node in the second BVH.
Reimplemented from fcl::TraversalNodeBase.
bool fcl::ShapeBVHDistanceTraversalNode< S, BV >::isSecondNodeLeaf | ( | int | b | ) | const [inline, virtual] |
Whether the BV node in the second BVH tree is leaf.
Reimplemented from fcl::TraversalNodeBase.
const S* fcl::ShapeBVHDistanceTraversalNode< S, BV >::model1 |
BV fcl::ShapeBVHDistanceTraversalNode< S, BV >::model1_bv |
Referenced by fcl::ShapeBVHDistanceTraversalNode< S, RSS >::BVTesting(), and fcl::initialize().
const BVHModel<BV>* fcl::ShapeBVHDistanceTraversalNode< S, BV >::model2 |
Referenced by fcl::ShapeBVHDistanceTraversalNode< S, RSS >::BVTesting(), fcl::ShapeBVHDistanceTraversalNode< S, RSS >::getSecondLeftChild(), fcl::ShapeBVHDistanceTraversalNode< S, RSS >::getSecondRightChild(), fcl::initialize(), fcl::ShapeBVHDistanceTraversalNode< S, RSS >::isSecondNodeLeaf(), and fcl::ShapeBVHDistanceTraversalNode< S, RSS >::ShapeBVHDistanceTraversalNode().
int fcl::ShapeBVHDistanceTraversalNode< S, BV >::num_bv_tests [mutable] |
int fcl::ShapeBVHDistanceTraversalNode< S, BV >::num_leaf_tests [mutable] |
FCL_REAL fcl::ShapeBVHDistanceTraversalNode< S, BV >::query_time_seconds [mutable] |