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>
Public Member Functions | |
BVHModel () | |
Default constructor to build an empty BVH. More... | |
BVHModel (const BVHModel &other) | |
Copy constructor from another BVH. More... | |
virtual BVHModel< BV > * | clone () const |
Clone *this into a new BVHModel. More... | |
BVNode< BV > & | getBV (unsigned int i) |
Access the bv giving the its index. More... | |
const BVNode< BV > & | getBV (unsigned int i) const |
We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here. More... | |
NODE_TYPE | getNodeType () const |
Get the BV type: default is unknown. More... | |
NODE_TYPE | getNodeType () const |
Specialization of getNodeType() for BVHModel with different BV types. More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
NODE_TYPE | getNodeType () const |
get the node type More... | |
unsigned int | getNumBVs () const |
Get the number of bv in the 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 (const bool msg) const |
Check the number of memory used. More... | |
~BVHModel () | |
deconstruction, delete mesh data related. More... | |
Public Member Functions inherited from hpp::fcl::BVHModelBase | |
int | addSubModel (const std::vector< Vec3f > &ps) |
Add a set of points in the new BVH model. More... | |
int | addSubModel (const std::vector< Vec3f > &ps, const std::vector< Triangle > &ts) |
Add a set of triangles in the new BVH model. More... | |
int | addTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
Add one triangle in the new BVH model. More... | |
int | addTriangles (const Matrixx3i &triangles) |
Add triangles in the new BVH model. More... | |
int | addVertex (const Vec3f &p) |
Add one point in the new BVH model. More... | |
int | addVertices (const Matrixx3f &points) |
Add points in the new BVH model. More... | |
int | beginModel (unsigned int num_tris=0, unsigned 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... | |
bool | buildConvexHull (bool keepTriangle, const char *qhullCommand=NULL) |
Build a convex hull and store it in attribute convex. More... | |
void | buildConvexRepresentation (bool share_memory) |
Build this Convex<Triangle> representation of this model. The result is stored in attribute convex. More... | |
BVHModelBase () | |
Constructing an empty BVH. More... | |
BVHModelBase (const BVHModelBase &other) | |
copy from another BVH More... | |
Vec3f | computeCOM () const |
compute center of mass More... | |
void | computeLocalAABB () |
Compute the AABB for the BVH, used for broad-phase collision. More... | |
Matrix3f | computeMomentofInertia () const |
compute the inertia matrix, related to the origin More... | |
FCL_REAL | computeVolume () const |
compute the volume More... | |
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... | |
BVHModelType | getModelType () const |
Model type described by the instance. More... | |
OBJECT_TYPE | getObjectType () const |
Get the object type: it is a BVH. More... | |
int | replaceSubModel (const std::vector< Vec3f > &ps) |
Replace a set of points in the old BVH model. More... | |
int | replaceTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
Replace one triangle in the old BVH model. More... | |
int | replaceVertex (const Vec3f &p) |
Replace one point in the old BVH model. More... | |
int | updateSubModel (const std::vector< Vec3f > &ps) |
Update a set of points in the old BVH model. More... | |
int | updateTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
Update one triangle in the old BVH model. More... | |
int | updateVertex (const Vec3f &p) |
Update one point in the old BVH model. More... | |
virtual | ~BVHModelBase () |
deconstruction, delete mesh data related. More... | |
Public Member Functions inherited from hpp::fcl::CollisionGeometry | |
CollisionGeometry () | |
CollisionGeometry (const CollisionGeometry &other)=default | |
Copy constructor. More... | |
virtual Matrix3f | computeMomentofInertiaRelatedToCOM () const |
compute the inertia matrix, related to the com 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... | |
bool | operator!= (const CollisionGeometry &other) const |
Difference operator. More... | |
bool | operator== (const CollisionGeometry &other) const |
Equality operator. More... | |
void | setUserData (void *data) |
set user data in geometry More... | |
virtual | ~CollisionGeometry () |
Public Attributes | |
shared_ptr< BVFitter< BV > > | bv_fitter |
Fitting rule to fit a BV node to a set of geometry primitives. More... | |
shared_ptr< BVSplitter< BV > > | bv_splitter |
Split rule to split one BV node into two children. More... | |
Public Attributes inherited from hpp::fcl::BVHModelBase | |
BVHBuildState | build_state |
The state of BVH building process. More... | |
shared_ptr< ConvexBase > | convex |
Convex<Triangle> representation of this object. More... | |
unsigned int | num_tris |
Number of triangles. More... | |
unsigned int | num_vertices |
Number of points. More... | |
Vec3f * | prev_vertices |
Geometry point data in previous frame. More... | |
Triangle * | tri_indices |
Geometry triangle index data, will be NULL for point clouds. More... | |
Vec3f * | vertices |
Geometry point data. More... | |
Public Attributes inherited from hpp::fcl::CollisionGeometry | |
Vec3f | aabb_center |
AABB center in local coordinate. More... | |
AABB | aabb_local |
AABB in local coordinate, used for tight AABB when only translation transform. More... | |
FCL_REAL | aabb_radius |
AABB radius. More... | |
FCL_REAL | cost_density |
collision cost for unit volume More... | |
FCL_REAL | threshold_free |
threshold for free (<= is free) More... | |
FCL_REAL | threshold_occupied |
threshold for occupied ( >= is occupied) More... | |
void * | user_data |
pointer to user defined data specific to this object More... | |
Protected Member Functions | |
bool | allocateBVs () |
int | buildTree () |
Build the bounding volume hierarchy. More... | |
void | deleteBVs () |
void | makeParentRelativeRecurse (int bv_id, Matrix3f &parent_axes, const Vec3f &parent_c) |
void | makeParentRelativeRecurse (int bv_id, Matrix3f &parent_axes, const Vec3f &parent_c) |
void | makeParentRelativeRecurse (int bv_id, Matrix3f &parent_axes, const Vec3f &parent_c) |
void | makeParentRelativeRecurse (int bv_id, Matrix3f &parent_axes, const Vec3f &parent_c) |
void | makeParentRelativeRecurse (int bv_id, Matrix3f &parent_axes, const Vec3f &parent_c) |
void | makeParentRelativeRecurse (int bv_id, Matrix3f &parent_axes, const Vec3f &parent_c) |
void | makeParentRelativeRecurse (int bv_id, Matrix3f &parent_axes, const Vec3f &parent_c) |
int | recursiveBuildTree (int bv_id, unsigned int first_primitive, unsigned 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... | |
Protected Attributes | |
BVNode< BV > * | bvs |
Bounding volume hierarchy. More... | |
unsigned int | num_bvs |
Number of BV nodes in bounding volume hierarchy. More... | |
unsigned int | num_bvs_allocated |
unsigned int * | primitive_indices |
Protected Attributes inherited from hpp::fcl::BVHModelBase | |
unsigned int | num_tris_allocated |
unsigned int | num_vertex_updated |
unsigned int | num_vertices_allocated |
Private Types | |
typedef BVHModelBase | Base |
Private Member Functions | |
virtual bool | isEqual (const CollisionGeometry &_other) const |
for ccd vertex update More... | |
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
BV | one of the bounding volume class in Bounding volumes. |
Definition at line 273 of file BVH/BVH_model.h.
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private |
Definition at line 274 of file BVH/BVH_model.h.
hpp::fcl::BVHModel< BV >::BVHModel |
Default constructor to build an empty BVH.
Constructing an empty BVH.
Definition at line 757 of file BVH_model.cpp.
hpp::fcl::BVHModel< BV >::BVHModel | ( | const BVHModel< BV > & | other | ) |
Copy constructor from another BVH.
[in] | other | BVHModel to copy. |
Definition at line 140 of file BVH_model.cpp.
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deconstruction, delete mesh data related.
Definition at line 296 of file BVH/BVH_model.h.
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Implements hpp::fcl::BVHModelBase.
Definition at line 776 of file BVH_model.cpp.
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Build the bounding volume hierarchy.
Implements hpp::fcl::BVHModelBase.
Definition at line 815 of file BVH_model.cpp.
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inlinevirtual |
Clone *this into a new BVHModel.
Implements hpp::fcl::CollisionGeometry.
Definition at line 293 of file BVH/BVH_model.h.
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Implements hpp::fcl::BVHModelBase.
Definition at line 767 of file BVH_model.cpp.
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Access the bv giving the its index.
Definition at line 311 of file BVH/BVH_model.h.
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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 305 of file BVH/BVH_model.h.
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Get the BV type: default is unknown.
Reimplemented from hpp::fcl::CollisionGeometry.
Definition at line 320 of file BVH/BVH_model.h.
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Specialization of getNodeType() for BVHModel with different BV types.
Reimplemented from hpp::fcl::CollisionGeometry.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
Definition at line 1066 of file BVH_model.cpp.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
Definition at line 1071 of file BVH_model.cpp.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
Definition at line 1076 of file BVH_model.cpp.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
Definition at line 1081 of file BVH_model.cpp.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
Definition at line 1086 of file BVH_model.cpp.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
Definition at line 1091 of file BVH_model.cpp.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
Definition at line 1096 of file BVH_model.cpp.
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get the node type
Reimplemented from hpp::fcl::CollisionGeometry.
Definition at line 1101 of file BVH_model.cpp.
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Get the number of bv in the BVH.
Definition at line 317 of file BVH/BVH_model.h.
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inlineprivatevirtual |
for ccd vertex update
Comparison operators
Reimplemented from hpp::fcl::BVHModelBase.
Definition at line 385 of file BVH/BVH_model.h.
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inlinevirtual |
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.
Implements hpp::fcl::BVHModelBase.
Definition at line 329 of file BVH/BVH_model.h.
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inlineprotected |
@ 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 371 of file BVH/BVH_model.h.
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Definition at line 1009 of file BVH_model.cpp.
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Definition at line 1027 of file BVH_model.cpp.
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Definition at line 1045 of file BVH_model.cpp.
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Check the number of memory used.
Implements hpp::fcl::BVHModelBase.
Definition at line 797 of file BVH_model.cpp.
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Recursive kernel for hierarchy construction.
Definition at line 846 of file BVH_model.cpp.
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Recursive kernel for bottomup refitting.
Definition at line 934 of file BVH_model.cpp.
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Refit the bounding volume hierarchy.
Implements hpp::fcl::BVHModelBase.
Definition at line 913 of file BVH_model.cpp.
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Refit the bounding volume hierarchy in a bottom-up way (fast but less compact)
Definition at line 921 of file BVH_model.cpp.
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Refit the bounding volume hierarchy in a top-down way (slow but more compact)
Definition at line 995 of file BVH_model.cpp.
shared_ptr<BVFitter<BV> > hpp::fcl::BVHModel< BV >::bv_fitter |
Fitting rule to fit a BV node to a set of geometry primitives.
Definition at line 281 of file BVH/BVH_model.h.
shared_ptr<BVSplitter<BV> > hpp::fcl::BVHModel< BV >::bv_splitter |
Split rule to split one BV node into two children.
Definition at line 278 of file BVH/BVH_model.h.
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Bounding volume hierarchy.
Definition at line 342 of file BVH/BVH_model.h.
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Number of BV nodes in bounding volume hierarchy.
Definition at line 345 of file BVH/BVH_model.h.
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Definition at line 338 of file BVH/BVH_model.h.
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Definition at line 339 of file BVH/BVH_model.h.