Public Member Functions | Public Attributes | List of all members
fcl::ShapeBVHCollisionTraversalNode< S, BV > Class Template Reference

Traversal node for collision between shape and BVH. More...

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

Inheritance diagram for fcl::ShapeBVHCollisionTraversalNode< S, BV >:
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Collaboration diagram for fcl::ShapeBVHCollisionTraversalNode< S, BV >:
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Public Member Functions

 ShapeBVHCollisionTraversalNode ()
 
bool firstOverSecond (int, int) const
 Alway extend the second model, which is a BVH model. More...
 
bool isSecondNodeLeaf (int b) const
 Whether the BV node in the second BVH tree is leaf. More...
 
int getSecondLeftChild (int b) const
 Obtain the left child of BV node in the second BVH. More...
 
int getSecondRightChild (int b) const
 Obtain the right child of BV node in the second BVH. More...
 
bool BVTesting (int b1, int b2) const
 BV test between b1 and b2. More...
 
bool BVTesting (int b1, int b2, FCL_REAL &sqrDistLowerBound) const
 BV test between b1 and b2. More...
 
- Public Member Functions inherited from fcl::CollisionTraversalNodeBase
 CollisionTraversalNodeBase (bool enable_distance_lower_bound_=false)
 
virtual ~CollisionTraversalNodeBase ()
 
virtual void leafTesting (int, int, FCL_REAL &) const
 Leaf test between node b1 and b2, if they are both leafs. More...
 
virtual bool canStop () const
 Check whether the traversal can stop. More...
 
void enableStatistics (bool enable)
 Whether store some statistics information during traversal. More...
 
- Public Member Functions inherited from fcl::TraversalNodeBase
virtual ~TraversalNodeBase ()
 
virtual void preprocess ()
 
virtual void postprocess ()
 
virtual bool isFirstNodeLeaf (int b) const
 Whether b is a leaf node in the first BVH tree. More...
 
virtual int getFirstLeftChild (int b) const
 Get the left child of the node b in the first tree. More...
 
virtual int getFirstRightChild (int b) const
 Get the right child of the node b in the first tree. More...
 

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
 
- Public Attributes inherited from fcl::CollisionTraversalNodeBase
CollisionRequest request
 request setting for collision More...
 
CollisionResultresult
 collision result kept during the traversal iteration More...
 
bool enable_statistics
 Whether stores statistics. More...
 
bool enable_distance_lower_bound
 Whether to compute a lower bound on distance between bounding volumes. More...
 
- Public Attributes inherited from fcl::TraversalNodeBase
Transform3f tf1
 configuation of first object More...
 
Transform3f tf2
 configuration of second object More...
 

Detailed Description

template<typename S, typename BV>
class fcl::ShapeBVHCollisionTraversalNode< S, BV >

Traversal node for collision between shape and BVH.

Constructor & Destructor Documentation

◆ ShapeBVHCollisionTraversalNode()

template<typename S, typename BV>
fcl::ShapeBVHCollisionTraversalNode< S, BV >::ShapeBVHCollisionTraversalNode ( )
inline

Member Function Documentation

◆ BVTesting() [1/2]

template<typename S, typename BV>
bool fcl::ShapeBVHCollisionTraversalNode< S, BV >::BVTesting ( int  b1,
int  b2 
) const
inlinevirtual

BV test between b1 and b2.

Parameters
b1,b2Bounding volumes to test,

Implements fcl::CollisionTraversalNodeBase.

◆ BVTesting() [2/2]

template<typename S, typename BV>
bool fcl::ShapeBVHCollisionTraversalNode< S, BV >::BVTesting ( int  b1,
int  b2,
FCL_REAL sqrDistLowerBound 
) const
inlinevirtual

BV test between b1 and b2.

Parameters
b1,b2Bounding volumes to test,
Return values
sqrDistLowerBoundsquare of a lower bound of the minimal distance between bounding volumes.

Implements fcl::CollisionTraversalNodeBase.

◆ firstOverSecond()

template<typename S, typename BV>
bool fcl::ShapeBVHCollisionTraversalNode< S, BV >::firstOverSecond ( int  ,
int   
) const
inlinevirtual

Alway extend the second model, which is a BVH model.

Reimplemented from fcl::TraversalNodeBase.

◆ getSecondLeftChild()

template<typename S, typename BV>
int fcl::ShapeBVHCollisionTraversalNode< S, BV >::getSecondLeftChild ( int  b) const
inlinevirtual

Obtain the left child of BV node in the second BVH.

Reimplemented from fcl::TraversalNodeBase.

◆ getSecondRightChild()

template<typename S, typename BV>
int fcl::ShapeBVHCollisionTraversalNode< S, BV >::getSecondRightChild ( int  b) const
inlinevirtual

Obtain the right child of BV node in the second BVH.

Reimplemented from fcl::TraversalNodeBase.

◆ isSecondNodeLeaf()

template<typename S, typename BV>
bool fcl::ShapeBVHCollisionTraversalNode< S, BV >::isSecondNodeLeaf ( int  b) const
inlinevirtual

Whether the BV node in the second BVH tree is leaf.

Reimplemented from fcl::TraversalNodeBase.

Member Data Documentation

◆ model1

template<typename S, typename BV>
const S* fcl::ShapeBVHCollisionTraversalNode< S, BV >::model1

Referenced by fcl::initialize().

◆ model1_bv

template<typename S, typename BV>
BV fcl::ShapeBVHCollisionTraversalNode< S, BV >::model1_bv

Referenced by fcl::initialize().

◆ model2

template<typename S, typename BV>
const BVHModel<BV>* fcl::ShapeBVHCollisionTraversalNode< S, BV >::model2

Referenced by fcl::initialize().

◆ num_bv_tests

template<typename S, typename BV>
int fcl::ShapeBVHCollisionTraversalNode< S, BV >::num_bv_tests
mutable

◆ num_leaf_tests

template<typename S, typename BV>
int fcl::ShapeBVHCollisionTraversalNode< S, BV >::num_leaf_tests
mutable

◆ query_time_seconds

template<typename S, typename BV>
FCL_REAL fcl::ShapeBVHCollisionTraversalNode< S, BV >::query_time_seconds
mutable