Program Listing for File BV_fitter.h
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#ifndef HPP_FCL_BV_FITTER_H
#define HPP_FCL_BV_FITTER_H
#include <hpp/fcl/BVH/BVH_internal.h>
#include <hpp/fcl/BV/kIOS.h>
#include <hpp/fcl/BV/OBBRSS.h>
#include <hpp/fcl/BV/AABB.h>
#include <iostream>
namespace hpp {
namespace fcl {
template <typename BV>
void fit(Vec3f* ps, unsigned int n, BV& bv) {
for (unsigned int i = 0; i < n; ++i) // TODO(jcarpent): vectorize
{
bv += ps[i];
}
}
template <>
void fit<OBB>(Vec3f* ps, unsigned int n, OBB& bv);
template <>
void fit<RSS>(Vec3f* ps, unsigned int n, RSS& bv);
template <>
void fit<kIOS>(Vec3f* ps, unsigned int n, kIOS& bv);
template <>
void fit<OBBRSS>(Vec3f* ps, unsigned int n, OBBRSS& bv);
template <>
void fit<AABB>(Vec3f* ps, unsigned int n, AABB& bv);
template <typename BV>
class HPP_FCL_DLLAPI BVFitterTpl {
public:
virtual ~BVFitterTpl() {}
void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_) {
vertices = vertices_;
prev_vertices = NULL;
tri_indices = tri_indices_;
type = type_;
}
void set(Vec3f* vertices_, Vec3f* prev_vertices_, Triangle* tri_indices_,
BVHModelType type_) {
vertices = vertices_;
prev_vertices = prev_vertices_;
tri_indices = tri_indices_;
type = type_;
}
virtual BV fit(unsigned int* primitive_indices,
unsigned int num_primitives) = 0;
void clear() {
vertices = NULL;
prev_vertices = NULL;
tri_indices = NULL;
type = BVH_MODEL_UNKNOWN;
}
protected:
Vec3f* vertices;
Vec3f* prev_vertices;
Triangle* tri_indices;
BVHModelType type;
};
template <typename BV>
class HPP_FCL_DLLAPI BVFitter : public BVFitterTpl<BV> {
typedef BVFitterTpl<BV> Base;
public:
BV fit(unsigned int* primitive_indices, unsigned int num_primitives) {
BV bv;
if (type == BVH_MODEL_TRIANGLES)
{
for (unsigned int i = 0; i < num_primitives; ++i) {
Triangle t = tri_indices[primitive_indices[i]];
bv += vertices[t[0]];
bv += vertices[t[1]];
bv += vertices[t[2]];
if (prev_vertices)
{
bv += prev_vertices[t[0]];
bv += prev_vertices[t[1]];
bv += prev_vertices[t[2]];
}
}
} else if (type == BVH_MODEL_POINTCLOUD)
{
for (unsigned int i = 0; i < num_primitives; ++i) {
bv += vertices[primitive_indices[i]];
if (prev_vertices)
{
bv += prev_vertices[primitive_indices[i]];
}
}
}
return bv;
}
protected:
using Base::prev_vertices;
using Base::tri_indices;
using Base::type;
using Base::vertices;
};
template <>
class HPP_FCL_DLLAPI BVFitter<OBB> : public BVFitterTpl<OBB> {
public:
OBB fit(unsigned int* primitive_indices, unsigned int num_primitives);
};
template <>
class HPP_FCL_DLLAPI BVFitter<RSS> : public BVFitterTpl<RSS> {
public:
RSS fit(unsigned int* primitive_indices, unsigned int num_primitives);
};
template <>
class HPP_FCL_DLLAPI BVFitter<kIOS> : public BVFitterTpl<kIOS> {
public:
kIOS fit(unsigned int* primitive_indices, unsigned int num_primitives);
};
template <>
class HPP_FCL_DLLAPI BVFitter<OBBRSS> : public BVFitterTpl<OBBRSS> {
public:
OBBRSS fit(unsigned int* primitive_indices, unsigned int num_primitives);
};
template <>
class HPP_FCL_DLLAPI BVFitter<AABB> : public BVFitterTpl<AABB> {
public:
AABB fit(unsigned int* primitive_indices, unsigned int num_primitives);
};
} // namespace fcl
} // namespace hpp
#endif