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RobWorkProject
23.9.11-
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this tree collider is used for oriented bounding volumes. The collider traverse the trees in a depth first manner. The DESCENTSTRATEGY is used to choose which node the traversal should pick first. The collider only works on trees of the same type. The BVCOLLIDER and PRIMCOLLIDER is used to check is bounding volumes or primitives are colliding. More...
#include <OBVTreeDFSCollider.hpp>
Inherits BVTreeCollider< BVTREE >.
Public Types | |
typedef Traits< BVTREE >::NodeIterator | NodeIterator |
typedef Traits< BVTREE >::BVType | BVType |
typedef Traits< BVType >::value_type | value_type |
typedef Traits< BVType >::value_type | T |
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typedef rw::core::Ptr< rw::proximity::BVTreeCollider< BVTREE > > | Ptr |
smart pointer for this class | |
Public Member Functions | |
OBVTreeDFSCollider (BVCOLLIDER *bvcollider, PRIMCOLLIDER *primcollider, DESCENTSTRATEGY *descendStrat, int n=200) | |
virtual | ~OBVTreeDFSCollider () |
detructor | |
bool | collides (const rw::math::Transform3D< value_type > &fTA, const BVTREE &treeA, const rw::math::Transform3D< value_type > &fTB, const BVTREE &treeB, std::vector< std::pair< int, int >> *collidingPrimitives=NULL) |
check if two trees are colliding | |
int | size () |
int | getMemUsage () |
type of the primitive in collision callb ack function More... | |
virtual int | getNrOfTestedBVs () |
virtual int | getNrOfCollidingBVs () |
virtual int | getNrOfTestedPrimitives () |
virtual int | getNrOfCollidingPrimitives () |
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virtual | ~BVTreeCollider () |
destructor | |
virtual bool | collides (const rw::math::Transform3D< typename BVTREE::value_type > &fTA, const BVTREE &treeA, const rw::math::Transform3D< typename BVTREE::value_type > &fTB, const BVTREE &treeB, std::vector< std::pair< int, int >> *collidingPrimitives=NULL)=0 |
tests if two BV trees are colliding. More... | |
virtual void | setQueryType (rw::proximity::CollisionStrategy::QueryType type) |
set the query type | |
virtual rw::proximity::CollisionStrategy::QueryType | getQueryType () |
get the collision query type | |
Additional Inherited Members | |
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rw::proximity::CollisionStrategy::QueryType | _queryType |
this tree collider is used for oriented bounding volumes. The collider traverse the trees in a depth first manner. The DESCENTSTRATEGY is used to choose which node the traversal should pick first. The collider only works on trees of the same type. The BVCOLLIDER and PRIMCOLLIDER is used to check is bounding volumes or primitives are colliding.
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inlinevirtual |
type of the primitive in collision callb ack function
returns the amount of heap memmory used by the tree collider.
Implements BVTreeCollider< BVTREE >.