Traversal node for continuous collision between meshes. More...
#include <hpp/fcl/traversal/traversal_node_bvhs.h>
Public Member Functions | |
MeshContinuousCollisionTraversalNode () | |
void | leafTesting (int b1, int b2, FCL_REAL &) const |
Intersection testing between leaves (two triangles) | |
bool | canStop () const |
Whether the traversal process can stop early. | |
Public Attributes | |
Vec3f * | vertices1 |
Vec3f * | vertices2 |
Triangle * | tri_indices1 |
Triangle * | tri_indices2 |
Vec3f * | prev_vertices1 |
Vec3f * | prev_vertices2 |
int | num_vf_tests |
int | num_ee_tests |
std::vector < BVHContinuousCollisionPair > | pairs |
FCL_REAL | time_of_contact |
Traversal node for continuous collision between meshes.
fcl::MeshContinuousCollisionTraversalNode< BV >::MeshContinuousCollisionTraversalNode | ( | ) | [inline] |
References fcl::MeshContinuousCollisionTraversalNode< BV >::num_ee_tests, fcl::MeshContinuousCollisionTraversalNode< BV >::num_vf_tests, fcl::MeshContinuousCollisionTraversalNode< BV >::prev_vertices1, fcl::MeshContinuousCollisionTraversalNode< BV >::prev_vertices2, fcl::MeshContinuousCollisionTraversalNode< BV >::time_of_contact, fcl::MeshContinuousCollisionTraversalNode< BV >::tri_indices1, fcl::MeshContinuousCollisionTraversalNode< BV >::tri_indices2, fcl::MeshContinuousCollisionTraversalNode< BV >::vertices1, and fcl::MeshContinuousCollisionTraversalNode< BV >::vertices2.
bool fcl::MeshContinuousCollisionTraversalNode< BV >::canStop | ( | ) | const [inline, virtual] |
Whether the traversal process can stop early.
Reimplemented from fcl::CollisionTraversalNodeBase.
References fcl::CollisionRequest::num_max_contacts, fcl::MeshContinuousCollisionTraversalNode< BV >::pairs, and fcl::CollisionTraversalNodeBase::request.
void fcl::MeshContinuousCollisionTraversalNode< BV >::leafTesting | ( | int | b1, |
int | b2, | ||
FCL_REAL & | |||
) | const [inline, virtual] |
Intersection testing between leaves (two triangles)
Reimplemented from fcl::CollisionTraversalNodeBase.
References fcl::CollisionTraversalNodeBase::enable_statistics, fcl::Intersect::intersect_EE(), fcl::Intersect::intersect_VF(), fcl::min(), fcl::BVHCollisionTraversalNode< BV >::model1, fcl::BVHCollisionTraversalNode< BV >::model2, fcl::MeshContinuousCollisionTraversalNode< BV >::num_ee_tests, fcl::BVHCollisionTraversalNode< BV >::num_leaf_tests, fcl::MeshContinuousCollisionTraversalNode< BV >::num_vf_tests, fcl::MeshContinuousCollisionTraversalNode< BV >::pairs, fcl::MeshContinuousCollisionTraversalNode< BV >::prev_vertices1, fcl::MeshContinuousCollisionTraversalNode< BV >::prev_vertices2, fcl::BVNodeBase::primitiveId(), fcl::MeshContinuousCollisionTraversalNode< BV >::time_of_contact, fcl::MeshContinuousCollisionTraversalNode< BV >::tri_indices1, fcl::MeshContinuousCollisionTraversalNode< BV >::tri_indices2, fcl::MeshContinuousCollisionTraversalNode< BV >::vertices1, and fcl::MeshContinuousCollisionTraversalNode< BV >::vertices2.
int fcl::MeshContinuousCollisionTraversalNode< BV >::num_ee_tests [mutable] |
int fcl::MeshContinuousCollisionTraversalNode< BV >::num_vf_tests [mutable] |
std::vector<BVHContinuousCollisionPair> fcl::MeshContinuousCollisionTraversalNode< BV >::pairs [mutable] |
Vec3f* fcl::MeshContinuousCollisionTraversalNode< BV >::prev_vertices1 |
Vec3f* fcl::MeshContinuousCollisionTraversalNode< BV >::prev_vertices2 |
FCL_REAL fcl::MeshContinuousCollisionTraversalNode< BV >::time_of_contact [mutable] |
Triangle* fcl::MeshContinuousCollisionTraversalNode< BV >::tri_indices1 |
Triangle* fcl::MeshContinuousCollisionTraversalNode< BV >::tri_indices2 |
Vec3f* fcl::MeshContinuousCollisionTraversalNode< BV >::vertices1 |
Vec3f* fcl::MeshContinuousCollisionTraversalNode< BV >::vertices2 |