BVH_utility.cpp File Reference

#include <hpp/fcl/BVH/BVH_utility.h>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/shape/geometric_shapes_utility.h>

Include dependency graph for BVH_utility.cpp:

Go to the source code of this file.

Namespaces
	hpp
	Main namespace.
	hpp::fcl
	hpp::fcl::details

Functions
template<>
HPP_FCL_DLLAPI BVHModel< AABB > *	hpp::fcl::BVHExtract (const BVHModel< AABB > &model, const Transform3f &pose, const AABB &aabb)
template<typename BV >
BVHModel< BV > *	hpp::fcl::details::BVHExtract (const BVHModel< BV > &model, const Transform3f &pose, const AABB &_aabb)
	Extract the part of the BVHModel that is inside an AABB. A triangle in collision with the AABB is considered inside. More...
template<>
HPP_FCL_DLLAPI BVHModel< KDOP< 16 > > *	hpp::fcl::BVHExtract (const BVHModel< KDOP< 16 > > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< KDOP< 18 > > *	hpp::fcl::BVHExtract (const BVHModel< KDOP< 18 > > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< KDOP< 24 > > *	hpp::fcl::BVHExtract (const BVHModel< KDOP< 24 > > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< kIOS > *	hpp::fcl::BVHExtract (const BVHModel< kIOS > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< OBB > *	hpp::fcl::BVHExtract (const BVHModel< OBB > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< OBBRSS > *	hpp::fcl::BVHExtract (const BVHModel< OBBRSS > &model, const Transform3f &pose, const AABB &aabb)
template<>
HPP_FCL_DLLAPI BVHModel< RSS > *	hpp::fcl::BVHExtract (const BVHModel< RSS > &model, const Transform3f &pose, const AABB &aabb)
HPP_FCL_DLLAPI void	hpp::fcl::circumCircleComputation (const Vec3f &a, const Vec3f &b, const Vec3f &c, Vec3f &center, FCL_REAL &radius)
	Compute the center and radius for a triangle's circumcircle. More...
HPP_FCL_DLLAPI void	hpp::fcl::getCovariance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &M)
	Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles. More...
HPP_FCL_DLLAPI void	hpp::fcl::getExtentAndCenter (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
	Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More...
static void	hpp::fcl::getExtentAndCenter_mesh (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
	Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known. More...
static void	hpp::fcl::getExtentAndCenter_pointcloud (Vec3f *ps, Vec3f *ps2, unsigned int *indices, unsigned int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
	Compute the bounding volume extent and center for a set or subset of points. The bounding volume axes are known. More...
HPP_FCL_DLLAPI void	hpp::fcl::getRadiusAndOriginAndRectangleSize (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Matrix3f &axes, Vec3f &origin, FCL_REAL l[2], FCL_REAL &r)
	Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises. More...
HPP_FCL_DLLAPI FCL_REAL	hpp::fcl::maximumDistance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Vec3f &query)
	Compute the maximum distance from a given center point to a point cloud. More...
static FCL_REAL	hpp::fcl::maximumDistance_mesh (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, unsigned int n, const Vec3f &query)
static FCL_REAL	hpp::fcl::maximumDistance_pointcloud (Vec3f *ps, Vec3f *ps2, unsigned int *indices, unsigned int n, const Vec3f &query)