hpp-fcl: hpp::fcl::BVNodeBase Struct Reference

hpp-fcl 1.7.7 HPP fork of FCL -- The Flexible Collision Library

Public Member Functions | Public Attributes | List of all members
hpp::fcl::BVNodeBase Struct Reference
Construction of BVHModel

BVNodeBase encodes the tree structure for BVH. More...

`#include <hpp/fcl/BV/BV_node.h>`

Inheritance diagram for hpp::fcl::BVNodeBase:

## Public Member Functions
| BVNodeBase ()
| Default constructor. More...
bool | operator== (const BVNodeBase &other) const
| Equality operator. More...
bool | operator!= (const BVNodeBase &other) const
| Difference operator. More...
bool | isLeaf () const
| Whether current node is a leaf node (i.e. contains a primitive index. More...
int | primitiveId () const
| Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel. More...
int | leftChild () const
| Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...
int | rightChild () const
| Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel. More...

## Public Attributes
int | first_child
| An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used. More...
int | first_primitive
| The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly. More...
int | num_primitives
| The number of primitives belonging to the current node. More...

## Detailed Description

BVNodeBase encodes the tree structure for BVH.

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

- include/hpp/fcl/BV/BV_node.h