OBVTreeDFSCollider< BVTREE, BVCOLLIDER, DESCENTSTRATEGY, PRIMCOLLIDER > Class Template Reference

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
Public Types inherited from BVTreeCollider< BVTREE >
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 ()
Public Member Functions inherited from BVTreeCollider< BVTREE >
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
Protected Attributes inherited from BVTreeCollider< BVTREE >
rw::proximity::CollisionStrategy::QueryType	_queryType

Detailed Description

template<class BVTREE, class BVCOLLIDER, class DESCENTSTRATEGY, class PRIMCOLLIDER>
class rw::proximity::OBVTreeDFSCollider< BVTREE, BVCOLLIDER, DESCENTSTRATEGY, PRIMCOLLIDER >

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.

Member Function Documentation

getMemUsage()

int getMemUsage ( )

inlinevirtual

type of the primitive in collision callb ack function

returns the amount of heap memmory used by the tree collider.

Returns

nr of bytes used

Implements BVTreeCollider< BVTREE >.

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The documentation for this class was generated from the following file:

• OBVTreeDFSCollider.hpp