Program Listing for File BVH_model.h
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#ifndef HPP_FCL_BVH_MODEL_H
#define HPP_FCL_BVH_MODEL_H
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/BVH/BVH_internal.h>
#include <hpp/fcl/BV/BV_node.h>
#include <vector>
namespace hpp {
namespace fcl {
class ConvexBase;
template <typename BV>
class BVFitter;
template <typename BV>
class BVSplitter;
class HPP_FCL_DLLAPI BVHModelBase : public CollisionGeometry {
public:
Vec3f* vertices;
Triangle* tri_indices;
Vec3f* prev_vertices;
unsigned int num_tris;
unsigned int num_vertices;
BVHBuildState build_state;
shared_ptr<ConvexBase> convex;
BVHModelType getModelType() const {
if (num_tris && num_vertices)
return BVH_MODEL_TRIANGLES;
else if (num_vertices)
return BVH_MODEL_POINTCLOUD;
else
return BVH_MODEL_UNKNOWN;
}
BVHModelBase();
BVHModelBase(const BVHModelBase& other);
virtual ~BVHModelBase() {
delete[] vertices;
delete[] tri_indices;
delete[] prev_vertices;
}
OBJECT_TYPE getObjectType() const { return OT_BVH; }
void computeLocalAABB();
int beginModel(unsigned int num_tris = 0, unsigned int num_vertices = 0);
int addVertex(const Vec3f& p);
int addVertices(const Matrixx3f& points);
int addTriangles(const Matrixx3i& triangles);
int addTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);
int addSubModel(const std::vector<Vec3f>& ps,
const std::vector<Triangle>& ts);
int addSubModel(const std::vector<Vec3f>& ps);
int endModel();
int beginReplaceModel();
int replaceVertex(const Vec3f& p);
int replaceTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);
int replaceSubModel(const std::vector<Vec3f>& ps);
int endReplaceModel(bool refit = true, bool bottomup = true);
int beginUpdateModel();
int updateVertex(const Vec3f& p);
int updateTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);
int updateSubModel(const std::vector<Vec3f>& ps);
int endUpdateModel(bool refit = true, bool bottomup = true);
void buildConvexRepresentation(bool share_memory);
bool buildConvexHull(bool keepTriangle, const char* qhullCommand = NULL);
virtual int memUsage(const bool msg = false) const = 0;
virtual void makeParentRelative() = 0;
Vec3f computeCOM() const {
FCL_REAL vol = 0;
Vec3f com(0, 0, 0);
for (unsigned int i = 0; i < num_tris; ++i) {
const Triangle& tri = tri_indices[i];
FCL_REAL d_six_vol =
(vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
vol += d_six_vol;
com +=
(vertices[tri[0]] + vertices[tri[1]] + vertices[tri[2]]) * d_six_vol;
}
return com / (vol * 4);
}
FCL_REAL computeVolume() const {
FCL_REAL vol = 0;
for (unsigned int i = 0; i < num_tris; ++i) {
const Triangle& tri = tri_indices[i];
FCL_REAL d_six_vol =
(vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
vol += d_six_vol;
}
return vol / 6;
}
Matrix3f computeMomentofInertia() const {
Matrix3f C = Matrix3f::Zero();
Matrix3f C_canonical;
C_canonical << 1 / 60.0, 1 / 120.0, 1 / 120.0, 1 / 120.0, 1 / 60.0,
1 / 120.0, 1 / 120.0, 1 / 120.0, 1 / 60.0;
for (unsigned int i = 0; i < num_tris; ++i) {
const Triangle& tri = tri_indices[i];
const Vec3f& v1 = vertices[tri[0]];
const Vec3f& v2 = vertices[tri[1]];
const Vec3f& v3 = vertices[tri[2]];
Matrix3f A;
A << v1.transpose(), v2.transpose(), v3.transpose();
C += A.derived().transpose() * C_canonical * A * (v1.cross(v2)).dot(v3);
}
return C.trace() * Matrix3f::Identity() - C;
}
protected:
virtual void deleteBVs() = 0;
virtual bool allocateBVs() = 0;
virtual int buildTree() = 0;
virtual int refitTree(bool bottomup) = 0;
unsigned int num_tris_allocated;
unsigned int num_vertices_allocated;
unsigned int num_vertex_updated;
protected:
virtual bool isEqual(const CollisionGeometry& other) const;
};
template <typename BV>
class HPP_FCL_DLLAPI BVHModel : public BVHModelBase {
typedef BVHModelBase Base;
public:
shared_ptr<BVSplitter<BV> > bv_splitter;
shared_ptr<BVFitter<BV> > bv_fitter;
BVHModel();
BVHModel(const BVHModel& other);
virtual BVHModel<BV>* clone() const { return new BVHModel(*this); }
~BVHModel() {
delete[] bvs;
delete[] primitive_indices;
}
const BVNode<BV>& getBV(unsigned int i) const {
assert(i < num_bvs);
return bvs[i];
}
BVNode<BV>& getBV(unsigned int i) {
assert(i < num_bvs);
return bvs[i];
}
unsigned int getNumBVs() const { return num_bvs; }
NODE_TYPE getNodeType() const { return BV_UNKNOWN; }
int memUsage(const bool msg) const;
void makeParentRelative() {
Matrix3f I(Matrix3f::Identity());
makeParentRelativeRecurse(0, I, Vec3f::Zero());
}
protected:
void deleteBVs();
bool allocateBVs();
unsigned int num_bvs_allocated;
unsigned int* primitive_indices;
BVNode<BV>* bvs;
unsigned int num_bvs;
int buildTree();
int refitTree(bool bottomup);
int refitTree_topdown();
int refitTree_bottomup();
int recursiveBuildTree(int bv_id, unsigned int first_primitive,
unsigned int num_primitives);
int recursiveRefitTree_bottomup(int bv_id);
void makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes,
const Vec3f& parent_c) {
if (!bvs[bv_id].isLeaf()) {
makeParentRelativeRecurse(bvs[bv_id].first_child, parent_axes,
bvs[bv_id].getCenter());
makeParentRelativeRecurse(bvs[bv_id].first_child + 1, parent_axes,
bvs[bv_id].getCenter());
}
bvs[bv_id].bv = translate(bvs[bv_id].bv, -parent_c);
}
private:
virtual bool isEqual(const CollisionGeometry& _other) const {
const BVHModel* other_ptr = dynamic_cast<const BVHModel*>(&_other);
if (other_ptr == nullptr) return false;
const BVHModel& other = *other_ptr;
bool res = Base::isEqual(other);
if (!res) return false;
// unsigned int other_num_primitives = 0;
// if(other.primitive_indices)
// {
// switch(other.getModelType())
// {
// case BVH_MODEL_TRIANGLES:
// other_num_primitives = num_tris;
// break;
// case BVH_MODEL_POINTCLOUD:
// other_num_primitives = num_vertices;
// break;
// default:
// ;
// }
// }
// unsigned int num_primitives = 0;
// if(primitive_indices)
// {
//
// switch(other.getModelType())
// {
// case BVH_MODEL_TRIANGLES:
// num_primitives = num_tris;
// break;
// case BVH_MODEL_POINTCLOUD:
// num_primitives = num_vertices;
// break;
// default:
// ;
// }
// }
//
// if(num_primitives != other_num_primitives)
// return false;
//
// for(int k = 0; k < num_primitives; ++k)
// {
// if(primitive_indices[k] != other.primitive_indices[k])
// return false;
// }
if (num_bvs != other.num_bvs) return false;
for (unsigned int k = 0; k < num_bvs; ++k) {
if (bvs[k] != other.bvs[k]) return false;
}
return true;
}
};
template <>
void BVHModel<OBB>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes,
const Vec3f& parent_c);
template <>
void BVHModel<RSS>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes,
const Vec3f& parent_c);
template <>
void BVHModel<OBBRSS>::makeParentRelativeRecurse(int bv_id,
Matrix3f& parent_axes,
const Vec3f& parent_c);
template <>
NODE_TYPE BVHModel<AABB>::getNodeType() const;
template <>
NODE_TYPE BVHModel<OBB>::getNodeType() const;
template <>
NODE_TYPE BVHModel<RSS>::getNodeType() const;
template <>
NODE_TYPE BVHModel<kIOS>::getNodeType() const;
template <>
NODE_TYPE BVHModel<OBBRSS>::getNodeType() const;
template <>
NODE_TYPE BVHModel<KDOP<16> >::getNodeType() const;
template <>
NODE_TYPE BVHModel<KDOP<18> >::getNodeType() const;
template <>
NODE_TYPE BVHModel<KDOP<24> >::getNodeType() const;
} // namespace fcl
} // namespace hpp
#endif