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

continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration More...

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

Inheritance diagram for fcl::MeshConservativeAdvancementTraversalNode< BV >:
[legend]
Collaboration diagram for fcl::MeshConservativeAdvancementTraversalNode< BV >:
[legend]

List of all members.

Public Member Functions

 MeshConservativeAdvancementTraversalNode (FCL_REAL w_=1)
FCL_REAL BVTesting (int b1, int b2) const
 BV culling test in one BVTT node.
void leafTesting (int b1, int b2) const
 Conservative advancement testing between leaves (two triangles)
bool canStop (FCL_REAL c) const
 Whether the traversal process can stop early.
template<>
bool canStop (FCL_REAL c) const
 Whether the traversal process can stop early.
template<>
bool canStop (FCL_REAL c) const
 Whether the traversal process can stop early.
template<>
bool canStop (FCL_REAL c) const
 Whether the traversal process can stop early.

Public Attributes

FCL_REAL min_distance
Vec3f closest_p1
Vec3f closest_p2
int last_tri_id1
int last_tri_id2
FCL_REAL w
 CA controlling variable: early stop for the early iterations of CA.
FCL_REAL toc
 The time from beginning point.
FCL_REAL t_err
FCL_REAL delta_t
 The delta_t each step.
const MotionBasemotion1
 Motions for the two objects in query.
const MotionBasemotion2
std::vector
< ConservativeAdvancementStackData
stack

Detailed Description

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

continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration


Constructor & Destructor Documentation


Member Function Documentation

template<typename BV>
FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::BVTesting ( int  b1,
int  b2 
) const [inline, virtual]
template<typename BV>
bool fcl::MeshConservativeAdvancementTraversalNode< BV >::canStop ( FCL_REAL  c) const [inline, virtual]

Whether the traversal process can stop early.

Reimplemented from fcl::MeshDistanceTraversalNode< BV >.

Reimplemented in fcl::MeshConservativeAdvancementTraversalNodeOBBRSS, and fcl::MeshConservativeAdvancementTraversalNodeRSS.

template<>
bool fcl::MeshConservativeAdvancementTraversalNode< OBB >::canStop ( FCL_REAL  c) const [inline, virtual]

Whether the traversal process can stop early.

Reimplemented from fcl::MeshDistanceTraversalNode< BV >.

References fcl::details::meshConservativeAdvancementTraversalNodeCanStop().

template<>
bool fcl::MeshConservativeAdvancementTraversalNode< RSS >::canStop ( FCL_REAL  c) const [inline, virtual]

Whether the traversal process can stop early.

Reimplemented from fcl::MeshDistanceTraversalNode< BV >.

References fcl::details::meshConservativeAdvancementTraversalNodeCanStop().

template<>
bool fcl::MeshConservativeAdvancementTraversalNode< OBBRSS >::canStop ( FCL_REAL  c) const [inline, virtual]

Whether the traversal process can stop early.

Reimplemented from fcl::MeshDistanceTraversalNode< BV >.

References fcl::details::meshConservativeAdvancementTraversalNodeCanStop().

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

Conservative advancement testing between leaves (two triangles)

Reimplemented from fcl::MeshDistanceTraversalNode< BV >.

Reimplemented in fcl::MeshConservativeAdvancementTraversalNodeOBBRSS, and fcl::MeshConservativeAdvancementTraversalNodeRSS.


Member Data Documentation

template<typename BV>
Vec3f fcl::MeshConservativeAdvancementTraversalNode< BV >::closest_p1 [mutable]
template<typename BV>
Vec3f fcl::MeshConservativeAdvancementTraversalNode< BV >::closest_p2 [mutable]
template<typename BV>
FCL_REAL fcl::MeshConservativeAdvancementTraversalNode< BV >::delta_t [mutable]
template<typename BV>
int fcl::MeshConservativeAdvancementTraversalNode< BV >::last_tri_id1 [mutable]
template<typename BV>
int fcl::MeshConservativeAdvancementTraversalNode< BV >::last_tri_id2 [mutable]
template<typename BV>
std::vector<ConservativeAdvancementStackData> fcl::MeshConservativeAdvancementTraversalNode< BV >::stack [mutable]
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines