fcl::BVSplitter< BV > Class Template Reference

A class describing the split rule that splits each BV node. More...

#include <BV_splitter.h>

Inheritance diagram for fcl::BVSplitter< BV >:

List of all members.

Public Member Functions
bool	apply (const Vec3f &q) const
	Apply the split rule on a given point.
template<>
bool	apply (const Vec3f &q) const
	Apply the split rule on a given point.
template<>
bool	apply (const Vec3f &q) const
	Apply the split rule on a given point.
template<>
bool	apply (const Vec3f &q) const
	Apply the split rule on a given point.
template<>
bool	apply (const Vec3f &q) const
	Apply the split rule on a given point.
template<>
bool	apply (const Vec3f &q) const
	Apply the split rule on a given point.
template<>
bool	apply (const Vec3f &q) const
	Apply the split rule on a given point.
template<>
bool	apply (const Vec3f &q) const
	Apply the split rule on a given point.
template<>
bool	apply (const Vec3f &q) const
	Apply the split rule on a given point.
	BVSplitter (SplitMethodType method)
void	clear ()
	Clear the geometry data set before.
void	computeRule (const BV &bv, unsigned int *primitive_indices, int num_primitives)
	Compute the split rule according to a subset of geometry and the corresponding BV node.
void	set (Vec3f *vertices_, Triangle *tri_indices_, BVHModelType type_)
	Set the geometry data needed by the split rule.
virtual	~BVSplitter ()
	Default deconstructor.
Private Member Functions
void	computeRule_bvcenter (const BV &bv, unsigned int *primitive_indices, int num_primitives)
	Split algorithm 1: Split the node from center.
template<>
void	computeRule_bvcenter (const OBB &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_bvcenter (const RSS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_bvcenter (const kIOS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_bvcenter (const OBBRSS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_bvcenter (const OBB &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_bvcenter (const RSS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_bvcenter (const kIOS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_bvcenter (const OBBRSS &bv, unsigned int *primitive_indices, int num_primitives)
void	computeRule_mean (const BV &bv, unsigned int *primitive_indices, int num_primitives)
	Split algorithm 2: Split the node according to the mean of the data contained.
template<>
void	computeRule_mean (const OBB &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_mean (const RSS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_mean (const kIOS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_mean (const OBBRSS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_mean (const OBB &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_mean (const RSS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_mean (const kIOS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_mean (const OBBRSS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_median (const OBB &bv, unsigned int *primitive_indices, int num_primitives)
void	computeRule_median (const BV &bv, unsigned int *primitive_indices, int num_primitives)
	Split algorithm 3: Split the node according to the median of the data contained.
template<>
void	computeRule_median (const RSS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_median (const kIOS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_median (const OBBRSS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_median (const OBB &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_median (const RSS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_median (const kIOS &bv, unsigned int *primitive_indices, int num_primitives)
template<>
void	computeRule_median (const OBBRSS &bv, unsigned int *primitive_indices, int num_primitives)
Private Attributes
int	split_axis
	The axis based on which the split decision is made. For most BV, the axis is aligned with one of the world coordinate, so only split_axis is needed. For oriented node, we can use a vector to make a better split decision.
SplitMethodType	split_method
	The split algorithm used.
FCL_REAL	split_value
	The split threshold, different primitives are splitted according whether their projection on the split_axis is larger or smaller than the threshold.
Vec3f	split_vector
Triangle *	tri_indices
	The triangles handled by the splitter.
BVHModelType	type
	Whether the geometry is mesh or point cloud.
Vec3f *	vertices
	The mesh vertices or points handled by the splitter.

---

Detailed Description

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

A class describing the split rule that splits each BV node.

Definition at line 74 of file BV_splitter.h.

---

Constructor & Destructor Documentation

template<typename BV >

fcl::BVSplitter< BV >::BVSplitter

(

SplitMethodType

method

)

[inline]

Definition at line 78 of file BV_splitter.h.

template<typename BV >

virtual fcl::BVSplitter< BV >::~BVSplitter

(

)

[inline, virtual]

Default deconstructor.

Definition at line 83 of file BV_splitter.h.

---

Member Function Documentation

template<typename BV >

bool fcl::BVSplitter< BV >::apply

(

const Vec3f &

q

)

const [inline, virtual]

Apply the split rule on a given point.

Implements fcl::BVSplitterBase< BV >.

Definition at line 113 of file BV_splitter.h.

template<>

bool fcl::BVSplitter< OBB >::apply

(

const Vec3f &

q

)

const [virtual]

Apply the split rule on a given point.

Implements fcl::BVSplitterBase< BV >.

template<>

bool fcl::BVSplitter< RSS >::apply

(

const Vec3f &

q

)

const [virtual]

Apply the split rule on a given point.

Implements fcl::BVSplitterBase< BV >.

template<>

bool fcl::BVSplitter< kIOS >::apply

(

const Vec3f &

q

)

const [virtual]

Apply the split rule on a given point.

Implements fcl::BVSplitterBase< BV >.

template<>

bool fcl::BVSplitter< OBBRSS >::apply

(

const Vec3f &

q

)

const [virtual]

Apply the split rule on a given point.

Implements fcl::BVSplitterBase< BV >.

template<>

bool fcl::BVSplitter< OBB >::apply

(

const Vec3f &

q

)

const [virtual]

Apply the split rule on a given point.

Implements fcl::BVSplitterBase< BV >.

Definition at line 258 of file BV_splitter.cpp.

template<>

bool fcl::BVSplitter< RSS >::apply

(

const Vec3f &

q

)

const [virtual]

Apply the split rule on a given point.

Implements fcl::BVSplitterBase< BV >.

Definition at line 264 of file BV_splitter.cpp.

template<>

bool fcl::BVSplitter< kIOS >::apply

(

const Vec3f &

q

)

const [virtual]

Apply the split rule on a given point.

Implements fcl::BVSplitterBase< BV >.

Definition at line 270 of file BV_splitter.cpp.

template<>

bool fcl::BVSplitter< OBBRSS >::apply

(

const Vec3f &

q

)

const [virtual]

Apply the split rule on a given point.

Implements fcl::BVSplitterBase< BV >.

Definition at line 276 of file BV_splitter.cpp.

template<typename BV >

void fcl::BVSplitter< BV >::clear

(

)

[inline, virtual]

Clear the geometry data set before.

Implements fcl::BVSplitterBase< BV >.

Definition at line 119 of file BV_splitter.h.

template<typename BV >

void fcl::BVSplitter< BV >::computeRule	(	const BV &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[inline, virtual]

Compute the split rule according to a subset of geometry and the corresponding BV node.

Implements fcl::BVSplitterBase< BV >.

Definition at line 94 of file BV_splitter.h.

template<typename BV >

void fcl::BVSplitter< BV >::computeRule_bvcenter	(	const BV &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[inline, private]

Split algorithm 1: Split the node from center.

Definition at line 149 of file BV_splitter.h.

template<>

void fcl::BVSplitter< OBB >::computeRule_bvcenter	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 173 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< RSS >::computeRule_bvcenter	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 194 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< kIOS >::computeRule_bvcenter	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 215 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< OBBRSS >::computeRule_bvcenter	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 236 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< OBB >::computeRule_bvcenter	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<>

void fcl::BVSplitter< RSS >::computeRule_bvcenter	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<>

void fcl::BVSplitter< kIOS >::computeRule_bvcenter	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<>

void fcl::BVSplitter< OBBRSS >::computeRule_bvcenter	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<typename BV >

void fcl::BVSplitter< BV >::computeRule_mean	(	const BV &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[inline, private]

Split algorithm 2: Split the node according to the mean of the data contained.

Definition at line 164 of file BV_splitter.h.

template<>

void fcl::BVSplitter< OBB >::computeRule_mean	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 180 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< RSS >::computeRule_mean	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 201 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< kIOS >::computeRule_mean	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 222 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< OBBRSS >::computeRule_mean	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 243 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< OBB >::computeRule_mean	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<>

void fcl::BVSplitter< RSS >::computeRule_mean	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<>

void fcl::BVSplitter< kIOS >::computeRule_mean	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<>

void fcl::BVSplitter< OBBRSS >::computeRule_mean	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<>

void fcl::BVSplitter< OBB >::computeRule_median	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 187 of file BV_splitter.cpp.

template<typename BV >

void fcl::BVSplitter< BV >::computeRule_median	(	const BV &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[inline, private]

Split algorithm 3: Split the node according to the median of the data contained.

Definition at line 198 of file BV_splitter.h.

template<>

void fcl::BVSplitter< RSS >::computeRule_median	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 208 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< kIOS >::computeRule_median	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 229 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< OBBRSS >::computeRule_median	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

Definition at line 250 of file BV_splitter.cpp.

template<>

void fcl::BVSplitter< OBB >::computeRule_median	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<>

void fcl::BVSplitter< RSS >::computeRule_median	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<>

void fcl::BVSplitter< kIOS >::computeRule_median	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<>

void fcl::BVSplitter< OBBRSS >::computeRule_median	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		int	num_primitives
	)		[private]

template<typename BV >

void fcl::BVSplitter< BV >::set	(	Vec3f *	vertices_,
		Triangle *	tri_indices_,
		BVHModelType	type_
	)		[inline, virtual]

Set the geometry data needed by the split rule.

Implements fcl::BVSplitterBase< BV >.

Definition at line 86 of file BV_splitter.h.

---

Member Data Documentation

template<typename BV >

int fcl::BVSplitter< BV >::split_axis [private]

The axis based on which the split decision is made. For most BV, the axis is aligned with one of the world coordinate, so only split_axis is needed. For oriented node, we can use a vector to make a better split decision.

Definition at line 130 of file BV_splitter.h.

template<typename BV >

SplitMethodType fcl::BVSplitter< BV >::split_method [private]

The split algorithm used.

Definition at line 146 of file BV_splitter.h.

template<typename BV >

FCL_REAL fcl::BVSplitter< BV >::split_value [private]

The split threshold, different primitives are splitted according whether their projection on the split_axis is larger or smaller than the threshold.

Definition at line 134 of file BV_splitter.h.

template<typename BV >

Vec3f fcl::BVSplitter< BV >::split_vector [private]

Definition at line 131 of file BV_splitter.h.

template<typename BV >

Triangle* fcl::BVSplitter< BV >::tri_indices [private]

The triangles handled by the splitter.

Definition at line 140 of file BV_splitter.h.

template<typename BV >

BVHModelType fcl::BVSplitter< BV >::type [private]

Whether the geometry is mesh or point cloud.

Definition at line 143 of file BV_splitter.h.

template<typename BV >

Vec3f* fcl::BVSplitter< BV >::vertices [private]

The mesh vertices or points handled by the splitter.

Definition at line 137 of file BV_splitter.h.

---

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

• BV_splitter.h