pf_distance_field.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Intel Labs Pittsburgh 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Intel Labs nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef PF_DISTANCE_FIELD_H_ 00038 #define PF_DISTANCE_FIELD_H_ 00039 00040 #include <distance_field/distance_field.h> 00041 00042 namespace distance_field 00043 { 00044 00051 class PFDistanceField: public DistanceField<float> 00052 { 00053 public: 00054 PFDistanceField(double size_x, double size_y, double size_z, double resolution, 00055 double origin_x, double origin_y, double origin_z); 00056 00057 virtual ~PFDistanceField(); 00058 00059 00060 typedef std::vector<float> FloatArray; 00061 typedef std::vector<int> IntArray; 00062 00063 virtual void addPointsToField(const std::vector<btVector3> points); 00064 virtual void reset(); 00065 00066 const float DT_INF; 00067 00068 private: 00069 inline float sqr(float x) { return x*x; } 00070 void dt(const FloatArray& f, size_t nn, FloatArray& ft, IntArray& v, FloatArray& z); 00071 void computeDT(); 00072 virtual double getDistance(const float& object) const; 00073 00074 }; 00075 00077 00078 inline double PFDistanceField::getDistance(const float& object) const 00079 { 00080 return sqrt(object)*this->resolution_[DIM_X]; 00081 } 00082 00083 } 00084 00085 #endif /* PF_DISTANCE_FIELD_H_ */