Public Member Functions | Public Attributes
fcl::NodeBase< BV > Struct Template Reference

dynamic AABB tree node More...

#include <hpp/fcl/broadphase/hierarchy_tree.h>

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

Public Member Functions

bool isLeaf () const
 whether is a leaf
bool isInternal () const
 whether is internal node
 NodeBase ()

Public Attributes

BV bv
 the bounding volume for the node
NodeBase< BV > * parent
 pointer to parent node
union {
   NodeBase< BV > *   children [2]
 for leaf node, children nodes
   void *   data
}; 
FCL_UINT32 code
 morton code for current BV

Detailed Description

template<typename BV>
struct fcl::NodeBase< BV >

dynamic AABB tree node


Constructor & Destructor Documentation

template<typename BV>
fcl::NodeBase< BV >::NodeBase ( ) [inline]

Member Function Documentation

template<typename BV>
bool fcl::NodeBase< BV >::isInternal ( ) const [inline]

whether is internal node

References fcl::NodeBase< BV >::isLeaf().

template<typename BV>
bool fcl::NodeBase< BV >::isLeaf ( ) const [inline]

Member Data Documentation

union { ... }
template<typename BV>
BV fcl::NodeBase< BV >::bv

the bounding volume for the node

Referenced by fcl::nodeBaseLess(), fcl::HierarchyTree< BV >::print(), and fcl::HierarchyTree< BV >::update().

template<typename BV>
NodeBase<BV>* fcl::NodeBase< BV >::children[2]
template<typename BV>
FCL_UINT32 fcl::NodeBase< BV >::code

morton code for current BV

template<typename BV>
void* fcl::NodeBase< BV >::data
template<typename BV>
NodeBase<BV>* fcl::NodeBase< BV >::parent

pointer to parent node

Referenced by fcl::NodeBase< BV >::NodeBase(), and fcl::HierarchyTree< BV >::update().

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