/// @brief BVNodeBase encodes the tree structure for BVH
structBVNodeBase
structHPP_FCL_DLLAPIBVNodeBase
{
/// @brief An index for first child node or primitive
/// If the value is positive, it is the index of the first child bv node
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@@ -84,7 +84,7 @@ struct BVNodeBase
/// @brief A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.
/// @brief A class for rectangle sphere-swept bounding volume
classRSS
classHPP_FCL_DLLAPIRSS
{
public:
/// @brief Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS.
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@@ -148,16 +148,16 @@ public:
/// @brief distance between two RSS bounding volumes
/// P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points
/// Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)
/// @brief Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles
/// @brief Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them.
/// Return value is the minimum distance generated between the two objects.