A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...

#include <BVH_model.h>

Inheritance diagram for fcl::BVHModel< BV >:

[legend]

Public Types
using	S = typename BV::S

Public Member Functions
int	addSubModel (const std::vector< Vector3< S >> &ps)
	Add a set of points in the new BVH model. More...

int	addSubModel (const std::vector< Vector3< S >> &ps, const std::vector< Triangle > &ts)
	Add a set of triangles in the new BVH model. More...

int	addTriangle (const Vector3< S > &p1, const Vector3< S > &p2, const Vector3< S > &p3)
	Add one triangle in the new BVH model. More...

int	addVertex (const Vector3< S > &p)
	Add one point in the new BVH model. More...

int	beginModel (int num_tris=0, int num_vertices=0)
	Begin a new BVH model. More...

int	beginReplaceModel ()
	Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame) More...

int	beginUpdateModel ()
	Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame). The current frame will be saved as the previous frame in prev_vertices. More...

	BVHModel ()
	Constructing an empty BVH. More...

	BVHModel (const BVHModel &other)
	copy from another BVH More...

Vector3< S >	computeCOM () const override

void	computeLocalAABB () override
	Compute the AABB for the BVH, used for broad-phase collision. More...

Matrix3< S >	computeMomentofInertia () const override

S	computeVolume () const override

int	endModel ()
	End BVH model construction, will build the bounding volume hierarchy. More...

int	endReplaceModel (bool refit=true, bool bottomup=true)
	End BVH model replacement, will also refit or rebuild the bounding volume hierarchy. More...

int	endUpdateModel (bool refit=true, bool bottomup=true)
	End BVH model update, will also refit or rebuild the bounding volume hierarchy. More...

BVNode< BV > &	getBV (int id)
	Access the bv giving the its index. More...

const BVNode< BV > &	getBV (int id) const
	We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here. More...

BVHModelType	getModelType () const
	Model type described by the instance. More...

NODE_TYPE	getNodeType () const override
	Get the BV type: default is unknown. More...

int	getNumBVs () const
	Get the number of bv in the BVH. More...

OBJECT_TYPE	getObjectType () const override
	Get the object type: it is a BVH. More...

void	makeParentRelative ()
	This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent BV node. When traversing the BVH, this can save one matrix transformation. More...

int	memUsage (int msg) const
	Check the number of memory used. More...

int	replaceSubModel (const std::vector< Vector3< S >> &ps)
	Replace a set of points in the old BVH model. More...

int	replaceTriangle (const Vector3< S > &p1, const Vector3< S > &p2, const Vector3< S > &p3)
	Replace one triangle in the old BVH model. More...

int	replaceVertex (const Vector3< S > &p)
	Replace one point in the old BVH model. More...

int	updateSubModel (const std::vector< Vector3< S >> &ps)
	Update a set of points in the old BVH model. More...

int	updateTriangle (const Vector3< S > &p1, const Vector3< S > &p2, const Vector3< S > &p3)
	Update one triangle in the old BVH model. More...

int	updateVertex (const Vector3< S > &p)
	Update one point in the old BVH model. More...

	~BVHModel ()
	deconstruction, delete mesh data related. More...

Public Member Functions inherited from fcl::CollisionGeometry< BV::S >
	CollisionGeometry ()

virtual Vector3< BV::S >	computeCOM () const
	compute center of mass More...

virtual Matrix3< BV::S >	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

virtual Matrix3< BV::S >	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

virtual BV::S	computeVolume () const
	compute the volume More...

virtual NODE_TYPE	getNodeType () const
	get the node type More...

virtual OBJECT_TYPE	getObjectType () const
	get the type of the object More...

void *	getUserData () const
	get user data in geometry More...

bool	isFree () const
	whether the object is completely free More...

bool	isOccupied () const
	whether the object is completely occupied More...

bool	isUncertain () const
	whether the object has some uncertainty More...

void	setUserData (void *data)
	set user data in geometry More...

virtual	~CollisionGeometry ()

Public Attributes
BVHBuildState	build_state
	The state of BVH building process. More...

std::shared_ptr< detail::BVFitterBase< BV > >	bv_fitter
	Fitting rule to fit a BV node to a set of geometry primitives. More...

std::shared_ptr< detail::BVSplitterBase< BV > >	bv_splitter
	Split rule to split one BV node into two children. More...

int	num_tris
	Number of triangles. More...

int	num_vertices
	Number of points. More...

Vector3< S > *	prev_vertices
	Geometry point data in previous frame. More...

Triangle *	tri_indices
	Geometry triangle index data, will be nullptr for point clouds. More...

Vector3< S > *	vertices
	Geometry point data. More...

Public Attributes inherited from fcl::CollisionGeometry< BV::S >
Vector3< BV::S >	aabb_center
	AABB center in local coordinate. More...

AABB< BV::S >	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform. More...

BV::S	aabb_radius
	AABB radius. More...

BV::S	cost_density
	collision cost for unit volume More...

BV::S	threshold_free
	threshold for free (<= is free) More...

BV::S	threshold_occupied
	threshold for occupied ( >= is occupied) More...

void *	user_data
	pointer to user defined data specific to this object More...

Private Member Functions
int	buildTree ()
	Build the bounding volume hierarchy. More...

void	makeParentRelativeRecurse (int bv_id, const Matrix3< S > &parent_axis, const Vector3< S > &parent_c)

int	recursiveBuildTree (int bv_id, int first_primitive, int num_primitives)
	Recursive kernel for hierarchy construction. More...

int	recursiveRefitTree_bottomup (int bv_id)
	Recursive kernel for bottomup refitting. More...

int	refitTree (bool bottomup)
	Refit the bounding volume hierarchy. More...

int	refitTree_bottomup ()
	Refit the bounding volume hierarchy in a bottom-up way (fast but less compact) More...

int	refitTree_topdown ()
	Refit the bounding volume hierarchy in a top-down way (slow but more compact) More...

Private Attributes
BVNode< BV > *	bvs
	Bounding volume hierarchy. More...

int	num_bvs
	Number of BV nodes in bounding volume hierarchy. More...

int	num_bvs_allocated

int	num_tris_allocated

int	num_vertex_updated

int	num_vertices_allocated

unsigned int *	primitive_indices
	for ccd vertex update More...

Friends
template<typename , typename >
struct	MakeParentRelativeRecurseImpl

Detailed Description

template<typename BV>
class fcl::BVHModel< BV >

A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)

Definition at line 57 of file BVH_model.h.

Member Typedef Documentation

◆ S

template<typename BV >

using fcl::BVHModel< BV >::S = typename BV::S

Definition at line 61 of file BVH_model.h.

Constructor & Destructor Documentation

◆ BVHModel() [1/2]

template<typename BV >

fcl::BVHModel< BV >::BVHModel

Constructing an empty BVH.

Definition at line 62 of file BVH_model-inl.h.

◆ BVHModel() [2/2]

template<typename BV >

fcl::BVHModel< BV >::BVHModel ( const BVHModel< BV > & other )

copy from another BVH

Definition at line 83 of file BVH_model-inl.h.

◆ ~BVHModel()

template<typename BV >

fcl::BVHModel< BV >::~BVHModel

deconstruction, delete mesh data related.

Definition at line 150 of file BVH_model-inl.h.

Member Function Documentation

◆ addSubModel() [1/2]

template<typename BV >

int fcl::BVHModel< BV >::addSubModel ( const std::vector< Vector3< S >> & ps )

Add a set of points in the new BVH model.

Definition at line 347 of file BVH_model-inl.h.

◆ addSubModel() [2/2]

template<typename BV >

int fcl::BVHModel< BV >::addSubModel	(	const std::vector< Vector3< S >> &	ps,
		const std::vector< Triangle > &	ts
	)

Add a set of triangles in the new BVH model.

Definition at line 383 of file BVH_model-inl.h.

◆ addTriangle()

template<typename BV >

int fcl::BVHModel< BV >::addTriangle	(	const Vector3< S > &	p1,
		const Vector3< S > &	p2,
		const Vector3< S > &	p3
	)

Add one triangle in the new BVH model.

Definition at line 288 of file BVH_model-inl.h.

◆ addVertex()

template<typename BV >

int fcl::BVHModel< BV >::addVertex ( const Vector3< S > & p )

Add one point in the new BVH model.

Definition at line 257 of file BVH_model-inl.h.

◆ beginModel()

template<typename BV >

int fcl::BVHModel< BV >::beginModel	(	int	num_tris = `0`,
		int	num_vertices = `0`
	)

Begin a new BVH model.

Definition at line 207 of file BVH_model-inl.h.

◆ beginReplaceModel()

template<typename BV >

int fcl::BVHModel< BV >::beginReplaceModel

Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame)

Definition at line 521 of file BVH_model-inl.h.

◆ beginUpdateModel()

template<typename BV >

int fcl::BVHModel< BV >::beginUpdateModel

Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame). The current frame will be saved as the previous frame in prev_vertices.

Definition at line 624 of file BVH_model-inl.h.

◆ buildTree()

template<typename BV >

int fcl::BVHModel< BV >::buildTree

private

Build the bounding volume hierarchy.

Definition at line 833 of file BVH_model-inl.h.

◆ computeCOM()

template<typename BV >

Vector3< typename BV::S > fcl::BVHModel< BV >::computeCOM

override

Definition at line 766 of file BVH_model-inl.h.

◆ computeLocalAABB()

template<typename BV >

void fcl::BVHModel< BV >::computeLocalAABB

overridevirtual

Compute the AABB for the BVH, used for broad-phase collision.

Implements fcl::CollisionGeometry< BV::S >.

Definition at line 1080 of file BVH_model-inl.h.

◆ computeMomentofInertia()

template<typename BV >

Matrix3< typename BV::S > fcl::BVHModel< BV >::computeMomentofInertia

override

Definition at line 798 of file BVH_model-inl.h.

◆ computeVolume()

template<typename BV >

BV::S fcl::BVHModel< BV >::computeVolume

override

Definition at line 783 of file BVH_model-inl.h.

◆ endModel()

template<typename BV >

int fcl::BVHModel< BV >::endModel

End BVH model construction, will build the bounding volume hierarchy.

Definition at line 450 of file BVH_model-inl.h.

◆ endReplaceModel()

template<typename BV >

int fcl::BVHModel< BV >::endReplaceModel	(	bool	refit = `true`,
		bool	bottomup = `true`
	)

End BVH model replacement, will also refit or rebuild the bounding volume hierarchy.

Definition at line 594 of file BVH_model-inl.h.

◆ endUpdateModel()

template<typename BV >

int fcl::BVHModel< BV >::endUpdateModel	(	bool	refit = `true`,
		bool	bottomup = `true`
	)

End BVH model update, will also refit or rebuild the bounding volume hierarchy.

Definition at line 703 of file BVH_model-inl.h.

◆ getBV() [1/2]

template<typename BV >

BVNode< BV > & fcl::BVHModel< BV >::getBV ( int id )

Access the bv giving the its index.

Definition at line 169 of file BVH_model-inl.h.

◆ getBV() [2/2]

template<typename BV >

const BVNode< BV > & fcl::BVHModel< BV >::getBV ( int id ) const

We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here.

Access the bv giving the its index

Definition at line 162 of file BVH_model-inl.h.

◆ getModelType()

template<typename BV >

BVHModelType fcl::BVHModel< BV >::getModelType

Model type described by the instance.

Definition at line 50 of file BVH_model-inl.h.

◆ getNodeType()

template<typename BV >

NODE_TYPE fcl::BVHModel< BV >::getNodeType

override

Get the BV type: default is unknown.

Definition at line 200 of file BVH_model-inl.h.

◆ getNumBVs()

template<typename BV >

int fcl::BVHModel< BV >::getNumBVs

Get the number of bv in the BVH.

Definition at line 176 of file BVH_model-inl.h.

◆ getObjectType()

template<typename BV >

OBJECT_TYPE fcl::BVHModel< BV >::getObjectType

override

Get the object type: it is a BVH.

Definition at line 183 of file BVH_model-inl.h.

◆ makeParentRelative()

template<typename BV >

void fcl::BVHModel< BV >::makeParentRelative

This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent BV node. When traversing the BVH, this can save one matrix transformation.

Definition at line 758 of file BVH_model-inl.h.

◆ makeParentRelativeRecurse()

template<typename BV >

void fcl::BVHModel< BV >::makeParentRelativeRecurse	(	int	bv_id,
		const Matrix3< S > &	parent_axis,
		const Vector3< S > &	parent_c
	)

private

@recursively compute each bv's transform related to its parent. For default BV, only the translation works. For oriented BV (OBB, RSS, OBBRSS), special implementation is provided.

Definition at line 1053 of file BVH_model-inl.h.

◆ memUsage()

template<typename BV >

int fcl::BVHModel< BV >::memUsage ( int msg ) const

Check the number of memory used.

Definition at line 738 of file BVH_model-inl.h.

◆ recursiveBuildTree()

template<typename BV >

int fcl::BVHModel< BV >::recursiveBuildTree	(	int	bv_id,
		int	first_primitive,
		int	num_primitives
	)

private

Recursive kernel for hierarchy construction.

Definition at line 868 of file BVH_model-inl.h.

◆ recursiveRefitTree_bottomup()

template<typename BV >

int fcl::BVHModel< BV >::recursiveRefitTree_bottomup ( int bv_id )

private

Recursive kernel for bottomup refitting.

Definition at line 961 of file BVH_model-inl.h.

◆ refitTree()

template<typename BV >

int fcl::BVHModel< BV >::refitTree ( bool bottomup )

private

Refit the bounding volume hierarchy.

Definition at line 942 of file BVH_model-inl.h.

◆ refitTree_bottomup()

template<typename BV >

int fcl::BVHModel< BV >::refitTree_bottomup

private

Refit the bounding volume hierarchy in a bottom-up way (fast but less compact)

Definition at line 952 of file BVH_model-inl.h.

◆ refitTree_topdown()

template<typename BV >

int fcl::BVHModel< BV >::refitTree_topdown

private

Refit the bounding volume hierarchy in a top-down way (slow but more compact)

Definition at line 1064 of file BVH_model-inl.h.

◆ replaceSubModel()

template<typename BV >

int fcl::BVHModel< BV >::replaceSubModel ( const std::vector< Vector3< S >> & ps )

Replace a set of points in the old BVH model.

Definition at line 576 of file BVH_model-inl.h.

◆ replaceTriangle()

template<typename BV >

int fcl::BVHModel< BV >::replaceTriangle	(	const Vector3< S > &	p1,
		const Vector3< S > &	p2,
		const Vector3< S > &	p3
	)

Replace one triangle in the old BVH model.

Definition at line 560 of file BVH_model-inl.h.

◆ replaceVertex()

template<typename BV >

int fcl::BVHModel< BV >::replaceVertex ( const Vector3< S > & p )

Replace one point in the old BVH model.

Definition at line 544 of file BVH_model-inl.h.

◆ updateSubModel()

template<typename BV >

int fcl::BVHModel< BV >::updateSubModel ( const std::vector< Vector3< S >> & ps )

Update a set of points in the old BVH model.

Definition at line 685 of file BVH_model-inl.h.

◆ updateTriangle()

template<typename BV >

int fcl::BVHModel< BV >::updateTriangle	(	const Vector3< S > &	p1,
		const Vector3< S > &	p2,
		const Vector3< S > &	p3
	)

Update one triangle in the old BVH model.

Definition at line 669 of file BVH_model-inl.h.

◆ updateVertex()

template<typename BV >

int fcl::BVHModel< BV >::updateVertex ( const Vector3< S > & p )

Update one point in the old BVH model.

Definition at line 653 of file BVH_model-inl.h.

Friends And Related Function Documentation

◆ MakeParentRelativeRecurseImpl

template<typename BV >

template<typename , typename >

friend struct MakeParentRelativeRecurseImpl

friend

Definition at line 226 of file BVH_model.h.

Member Data Documentation

◆ build_state

template<typename BV >

BVHBuildState fcl::BVHModel< BV >::build_state

The state of BVH building process.

Definition at line 177 of file BVH_model.h.

◆ bv_fitter

template<typename BV >

std::shared_ptr<detail::BVFitterBase<BV> > fcl::BVHModel< BV >::bv_fitter

Fitting rule to fit a BV node to a set of geometry primitives.

Definition at line 183 of file BVH_model.h.

◆ bv_splitter

template<typename BV >

std::shared_ptr<detail::BVSplitterBase<BV> > fcl::BVHModel< BV >::bv_splitter

Split rule to split one BV node into two children.

Definition at line 180 of file BVH_model.h.

◆ bvs

template<typename BV >

BVNode<BV>* fcl::BVHModel< BV >::bvs

private

Bounding volume hierarchy.

Definition at line 194 of file BVH_model.h.

◆ num_bvs

template<typename BV >

int fcl::BVHModel< BV >::num_bvs

private

Number of BV nodes in bounding volume hierarchy.

Definition at line 197 of file BVH_model.h.

◆ num_bvs_allocated

template<typename BV >

int fcl::BVHModel< BV >::num_bvs_allocated

private

Definition at line 189 of file BVH_model.h.

◆ num_tris

template<typename BV >

int fcl::BVHModel< BV >::num_tris

Number of triangles.

Definition at line 171 of file BVH_model.h.

◆ num_tris_allocated

template<typename BV >

int fcl::BVHModel< BV >::num_tris_allocated

private

Definition at line 187 of file BVH_model.h.

◆ num_vertex_updated

template<typename BV >

int fcl::BVHModel< BV >::num_vertex_updated

private

Definition at line 190 of file BVH_model.h.

◆ num_vertices

template<typename BV >

int fcl::BVHModel< BV >::num_vertices

Number of points.

Definition at line 174 of file BVH_model.h.

◆ num_vertices_allocated

template<typename BV >

int fcl::BVHModel< BV >::num_vertices_allocated

private

Definition at line 188 of file BVH_model.h.

◆ prev_vertices

template<typename BV >

Vector3<S>* fcl::BVHModel< BV >::prev_vertices

Geometry point data in previous frame.

Definition at line 168 of file BVH_model.h.

◆ primitive_indices

template<typename BV >

unsigned int* fcl::BVHModel< BV >::primitive_indices

private

for ccd vertex update

Definition at line 191 of file BVH_model.h.

◆ tri_indices

template<typename BV >

Triangle* fcl::BVHModel< BV >::tri_indices

Geometry triangle index data, will be nullptr for point clouds.

Definition at line 165 of file BVH_model.h.

◆ vertices

template<typename BV >

Vector3<S>* fcl::BVHModel< BV >::vertices

Geometry point data.

Definition at line 162 of file BVH_model.h.

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

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

template<typename BV> class fcl::BVHModel< BV >

Member Typedef Documentation

◆ S

Constructor & Destructor Documentation

◆ BVHModel() [1/2]

◆ BVHModel() [2/2]

◆ ~BVHModel()

Member Function Documentation

◆ addSubModel() [1/2]

◆ addSubModel() [2/2]

◆ addTriangle()

◆ addVertex()

◆ beginModel()

◆ beginReplaceModel()

◆ beginUpdateModel()

◆ buildTree()

◆ computeCOM()

◆ computeLocalAABB()

◆ computeMomentofInertia()

◆ computeVolume()

◆ endModel()

◆ endReplaceModel()

◆ endUpdateModel()

◆ getBV() [1/2]

◆ getBV() [2/2]

◆ getModelType()

◆ getNodeType()

◆ getNumBVs()

◆ getObjectType()

◆ makeParentRelative()

◆ makeParentRelativeRecurse()

◆ memUsage()

◆ recursiveBuildTree()

◆ recursiveRefitTree_bottomup()

◆ refitTree()

◆ refitTree_bottomup()

◆ refitTree_topdown()

◆ replaceSubModel()

◆ replaceTriangle()

◆ replaceVertex()

◆ updateSubModel()

◆ updateTriangle()

◆ updateVertex()

Friends And Related Function Documentation

◆ MakeParentRelativeRecurseImpl

Member Data Documentation

◆ build_state

◆ bv_fitter

◆ bv_splitter

◆ bvs

◆ num_bvs

◆ num_bvs_allocated

◆ num_tris

◆ num_tris_allocated

◆ num_vertex_updated

◆ num_vertices

◆ num_vertices_allocated

◆ prev_vertices

◆ primitive_indices

◆ tri_indices

◆ vertices

template<typename BV>
class fcl::BVHModel< BV >