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 | |
| int | addSubModel (const std::vector< Vec3f > &ps, const std::vector< Triangle > &ts) |
| Add a set of triangles in the new BVH model. | |
| int | addSubModel (const std::vector< Vec3f > &ps) |
| Add a set of points in the new BVH model. | |
| int | addTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
| Add one triangle in the new BVH model. | |
| int | addVertex (const Vec3f &p) |
| Add one point in the new BVH model. | |
| int | beginModel (int num_tris=0, int num_vertices=0) |
| Begin a new BVH model. | |
| int | beginReplaceModel () |
| Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame) | |
| 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. | |
| BVHModel () | |
| Constructing an empty BVH. | |
| BVHModel (const BVHModel &other) | |
| copy from another BVH | |
| void | computeLocalAABB () |
| Compute the AABB for the BVH, used for broad-phase collision. | |
| int | endModel () |
| End BVH model construction, will build the bounding volume hierarchy. | |
| int | endReplaceModel (bool refit=true, bool bottomup=true) |
| End BVH model replacement, will also refit or rebuild the bounding volume hierarchy. | |
| int | endUpdateModel (bool refit=true, bool bottomup=true) |
| End BVH model update, will also refit or rebuild the bounding volume hierarchy. | |
| 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. | |
| BVNode< BV > & | getBV (int id) |
| Access the bv giving the its index. | |
| BVHModelType | getModelType () const |
| Model type described by the instance. | |
| NODE_TYPE | getNodeType () const |
| Get the BV type: default is unknown. | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| int | getNumBVs () const |
| Get the number of bv in the BVH. | |
| OBJECT_TYPE | getObjectType () const |
| Get the object type: it is a BVH. | |
| 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. | |
| int | memUsage (int msg) const |
| Check the number of memory used. | |
| int | replaceSubModel (const std::vector< Vec3f > &ps) |
| Replace a set of points in the old BVH model. | |
| int | replaceTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
| Replace one triangle in the old BVH model. | |
| int | replaceVertex (const Vec3f &p) |
| Replace one point in the old BVH model. | |
| int | updateSubModel (const std::vector< Vec3f > &ps) |
| Update a set of points in the old BVH model. | |
| int | updateTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
| Update one triangle in the old BVH model. | |
| int | updateVertex (const Vec3f &p) |
| Update one point in the old BVH model. | |
| ~BVHModel () | |
| deconstruction, delete mesh data related. | |
Public Attributes | |
| BVHBuildState | build_state |
| The state of BVH building process. | |
| boost::shared_ptr < BVFitterBase< BV > > | bv_fitter |
| Fitting rule to fit a BV node to a set of geometry primitives. | |
| boost::shared_ptr < BVSplitterBase< BV > > | bv_splitter |
| Split rule to split one BV node into two children. | |
| int | num_tris |
| Number of triangles. | |
| int | num_vertices |
| Number of points. | |
| Vec3f * | prev_vertices |
| Geometry point data in previous frame. | |
| Triangle * | tri_indices |
| Geometry triangle index data, will be NULL for point clouds. | |
| Vec3f * | vertices |
| Geometry point data. | |
Private Member Functions | |
| int | buildTree () |
| Build the bounding volume hierarchy. | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| int | recursiveBuildTree (int bv_id, int first_primitive, int num_primitives) |
| Recursive kernel for hierarchy construction. | |
| int | recursiveRefitTree_bottomup (int bv_id) |
| Recursive kernel for bottomup refitting. | |
| int | refitTree (bool bottomup) |
| Refit the bounding volume hierarchy. | |
| int | refitTree_bottomup () |
| Refit the bounding volume hierarchy in a bottom-up way (fast but less compact) | |
| int | refitTree_topdown () |
| Refit the bounding volume hierarchy in a top-down way (slow but more compact) | |
Private Attributes | |
| BVNode< BV > * | bvs |
| Bounding volume hierarchy. | |
| int | num_bvs |
| Number of BV nodes in bounding volume hierarchy. | |
| int | num_bvs_allocated |
| int | num_tris_allocated |
| int | num_vertex_updated |
| int | num_vertices_allocated |
| unsigned int * | primitive_indices |
| for ccd vertex update | |
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 53 of file BVH_model.h.
| fcl::BVHModel< BV >::BVHModel | ( | ) | [inline] |
Constructing an empty BVH.
Definition at line 69 of file BVH_model.h.
| fcl::BVHModel< BV >::BVHModel | ( | const BVHModel< BV > & | other | ) |
copy from another BVH
Definition at line 46 of file BVH_model.cpp.
| fcl::BVHModel< BV >::~BVHModel | ( | ) | [inline] |
deconstruction, delete mesh data related.
Definition at line 91 of file BVH_model.h.
| int fcl::BVHModel< BV >::addSubModel | ( | const std::vector< Vec3f > & | ps, |
| const std::vector< Triangle > & | ts | ||
| ) |
Add a set of triangles in the new BVH model.
Definition at line 278 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::addSubModel | ( | const std::vector< Vec3f > & | ps | ) |
Add a set of points in the new BVH model.
Definition at line 243 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::addTriangle | ( | const Vec3f & | p1, |
| const Vec3f & | p2, | ||
| const Vec3f & | p3 | ||
| ) |
Add one triangle in the new BVH model.
Definition at line 189 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::addVertex | ( | const Vec3f & | p | ) |
Add one point in the new BVH model.
Definition at line 159 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::beginModel | ( | int | num_tris = 0, |
| int | num_vertices = 0 |
||
| ) |
Begin a new BVH model.
Definition at line 112 of file BVH_model.cpp.
| 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 412 of file BVH_model.cpp.
| 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 510 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::buildTree | ( | ) | [private] |
Build the bounding volume hierarchy.
Definition at line 642 of file BVH_model.cpp.
| void fcl::BVHModel< BV >::computeLocalAABB | ( | ) | [virtual] |
Compute the AABB for the BVH, used for broad-phase collision.
Implements fcl::CollisionGeometry.
Definition at line 856 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::endModel | ( | ) |
End BVH model construction, will build the bounding volume hierarchy.
Definition at line 340 of file BVH_model.cpp.
| 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 477 of file BVH_model.cpp.
| 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 585 of file BVH_model.cpp.
| const BVNode<BV>& fcl::BVHModel< BV >::getBV | ( | int | id | ) | const [inline] |
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 104 of file BVH_model.h.
| BVNode<BV>& fcl::BVHModel< BV >::getBV | ( | int | id | ) | [inline] |
Access the bv giving the its index.
Definition at line 110 of file BVH_model.h.
| BVHModelType fcl::BVHModel< BV >::getModelType | ( | ) | const [inline] |
Model type described by the instance.
Definition at line 58 of file BVH_model.h.
| NODE_TYPE fcl::BVHModel< BV >::getNodeType | ( | ) | const [inline, virtual] |
Get the BV type: default is unknown.
Reimplemented from fcl::CollisionGeometry.
Definition at line 125 of file BVH_model.h.
| NODE_TYPE fcl::BVHModel< AABB >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
| NODE_TYPE fcl::BVHModel< OBB >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
| NODE_TYPE fcl::BVHModel< RSS >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
| NODE_TYPE fcl::BVHModel< kIOS >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
| NODE_TYPE fcl::BVHModel< OBBRSS >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
| NODE_TYPE fcl::BVHModel< KDOP< 16 > >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
| NODE_TYPE fcl::BVHModel< KDOP< 18 > >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
| NODE_TYPE fcl::BVHModel< KDOP< 24 > >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
| NODE_TYPE fcl::BVHModel< AABB >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
Definition at line 948 of file BVH_model.cpp.
| NODE_TYPE fcl::BVHModel< OBB >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
Definition at line 954 of file BVH_model.cpp.
| NODE_TYPE fcl::BVHModel< RSS >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
Definition at line 960 of file BVH_model.cpp.
| NODE_TYPE fcl::BVHModel< kIOS >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
Definition at line 966 of file BVH_model.cpp.
| NODE_TYPE fcl::BVHModel< OBBRSS >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
Definition at line 972 of file BVH_model.cpp.
| NODE_TYPE fcl::BVHModel< KDOP< 16 > >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
Definition at line 978 of file BVH_model.cpp.
| NODE_TYPE fcl::BVHModel< KDOP< 18 > >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
Definition at line 984 of file BVH_model.cpp.
| NODE_TYPE fcl::BVHModel< KDOP< 24 > >::getNodeType | ( | ) | const [virtual] |
get the node type
Reimplemented from fcl::CollisionGeometry.
Definition at line 990 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::getNumBVs | ( | ) | const [inline] |
Get the number of bv in the BVH.
Definition at line 116 of file BVH_model.h.
| OBJECT_TYPE fcl::BVHModel< BV >::getObjectType | ( | ) | const [inline, virtual] |
Get the object type: it is a BVH.
Reimplemented from fcl::CollisionGeometry.
Definition at line 122 of file BVH_model.h.
| void fcl::BVHModel< BV >::makeParentRelative | ( | ) | [inline] |
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 186 of file BVH_model.h.
| void fcl::BVHModel< BV >::makeParentRelativeRecurse | ( | int | bv_id, |
| Vec3f | parent_axis[], | ||
| const Vec3f & | parent_c | ||
| ) | [inline, private] |
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 252 of file BVH_model.h.
| void fcl::BVHModel< OBB >::makeParentRelativeRecurse | ( | int | bv_id, |
| Vec3f | parent_axis[], | ||
| const Vec3f & | parent_c | ||
| ) | [private] |
| void fcl::BVHModel< RSS >::makeParentRelativeRecurse | ( | int | bv_id, |
| Vec3f | parent_axis[], | ||
| const Vec3f & | parent_c | ||
| ) | [private] |
| void fcl::BVHModel< OBBRSS >::makeParentRelativeRecurse | ( | int | bv_id, |
| Vec3f | parent_axis[], | ||
| const Vec3f & | parent_c | ||
| ) | [private] |
| void fcl::BVHModel< OBB >::makeParentRelativeRecurse | ( | int | bv_id, |
| Vec3f | parent_axis[], | ||
| const Vec3f & | parent_c | ||
| ) | [private] |
Definition at line 880 of file BVH_model.cpp.
| void fcl::BVHModel< RSS >::makeParentRelativeRecurse | ( | int | bv_id, |
| Vec3f | parent_axis[], | ||
| const Vec3f & | parent_c | ||
| ) | [private] |
Definition at line 900 of file BVH_model.cpp.
| void fcl::BVHModel< OBBRSS >::makeParentRelativeRecurse | ( | int | bv_id, |
| Vec3f | parent_axis[], | ||
| const Vec3f & | parent_c | ||
| ) | [private] |
Definition at line 920 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::memUsage | ( | int | msg | ) | const |
Check the number of memory used.
Definition at line 622 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::recursiveBuildTree | ( | int | bv_id, |
| int | first_primitive, | ||
| int | num_primitives | ||
| ) | [private] |
Recursive kernel for hierarchy construction.
Definition at line 676 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::recursiveRefitTree_bottomup | ( | int | bv_id | ) | [private] |
Recursive kernel for bottomup refitting.
Definition at line 772 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::refitTree | ( | bool | bottomup | ) | [private] |
Refit the bounding volume hierarchy.
Definition at line 754 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::refitTree_bottomup | ( | ) | [private] |
Refit the bounding volume hierarchy in a bottom-up way (fast but less compact)
Definition at line 763 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::refitTree_topdown | ( | ) | [private] |
Refit the bounding volume hierarchy in a top-down way (slow but more compact)
Definition at line 841 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::replaceSubModel | ( | const std::vector< Vec3f > & | ps | ) |
Replace a set of points in the old BVH model.
Definition at line 460 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::replaceTriangle | ( | const Vec3f & | p1, |
| const Vec3f & | p2, | ||
| const Vec3f & | p3 | ||
| ) |
Replace one triangle in the old BVH model.
Definition at line 445 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::replaceVertex | ( | const Vec3f & | p | ) |
Replace one point in the old BVH model.
Definition at line 430 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::updateSubModel | ( | const std::vector< Vec3f > & | ps | ) |
Update a set of points in the old BVH model.
Definition at line 568 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::updateTriangle | ( | const Vec3f & | p1, |
| const Vec3f & | p2, | ||
| const Vec3f & | p3 | ||
| ) |
Update one triangle in the old BVH model.
Definition at line 553 of file BVH_model.cpp.
| int fcl::BVHModel< BV >::updateVertex | ( | const Vec3f & | p | ) |
Update one point in the old BVH model.
Definition at line 538 of file BVH_model.cpp.
| BVHBuildState fcl::BVHModel< BV >::build_state |
The state of BVH building process.
Definition at line 209 of file BVH_model.h.
| boost::shared_ptr<BVFitterBase<BV> > fcl::BVHModel< BV >::bv_fitter |
Fitting rule to fit a BV node to a set of geometry primitives.
Definition at line 215 of file BVH_model.h.
| boost::shared_ptr<BVSplitterBase<BV> > fcl::BVHModel< BV >::bv_splitter |
Split rule to split one BV node into two children.
Definition at line 212 of file BVH_model.h.
BVNode<BV>* fcl::BVHModel< BV >::bvs [private] |
Bounding volume hierarchy.
Definition at line 227 of file BVH_model.h.
int fcl::BVHModel< BV >::num_bvs [private] |
Number of BV nodes in bounding volume hierarchy.
Definition at line 230 of file BVH_model.h.
int fcl::BVHModel< BV >::num_bvs_allocated [private] |
Definition at line 221 of file BVH_model.h.
| int fcl::BVHModel< BV >::num_tris |
Number of triangles.
Definition at line 203 of file BVH_model.h.
int fcl::BVHModel< BV >::num_tris_allocated [private] |
Definition at line 219 of file BVH_model.h.
int fcl::BVHModel< BV >::num_vertex_updated [private] |
Definition at line 222 of file BVH_model.h.
| int fcl::BVHModel< BV >::num_vertices |
Number of points.
Definition at line 206 of file BVH_model.h.
int fcl::BVHModel< BV >::num_vertices_allocated [private] |
Definition at line 220 of file BVH_model.h.
| Vec3f* fcl::BVHModel< BV >::prev_vertices |
Geometry point data in previous frame.
Definition at line 200 of file BVH_model.h.
unsigned int* fcl::BVHModel< BV >::primitive_indices [private] |
for ccd vertex update
Definition at line 223 of file BVH_model.h.
| Triangle* fcl::BVHModel< BV >::tri_indices |
Geometry triangle index data, will be NULL for point clouds.
Definition at line 197 of file BVH_model.h.
| Vec3f* fcl::BVHModel< BV >::vertices |
Geometry point data.
Definition at line 194 of file BVH_model.h.
