BVH_model.h

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#ifndef FCL_BVH_MODEL_H
#define FCL_BVH_MODEL_H
 
#include <vector>
#include <memory>
 
#include "fcl/math/bv/OBB.h"
#include "fcl/math/bv/kDOP.h"
#include "fcl/geometry/collision_geometry.h"
#include "fcl/geometry/bvh/BVH_internal.h"
#include "fcl/geometry/bvh/BV_node.h"
#include "fcl/geometry/bvh/detail/BV_splitter.h"
#include "fcl/geometry/bvh/detail/BV_fitter.h"
 
namespace fcl
{
 
template <typename BV>
class FCL_EXPORT BVHModel : public CollisionGeometry<typename BV::S>
{
public:
 
  using S = typename BV::S;
 
  BVHModelType getModelType() const;
 
  BVHModel();
 
  BVHModel(const BVHModel& other);
 
  ~BVHModel();
 
  
  const BVNode<BV>& getBV(int id) const;
 
  BVNode<BV>& getBV(int id);
 
  int getNumBVs() const;
 
  OBJECT_TYPE getObjectType() const override;
 
  NODE_TYPE getNodeType() const override;
 
  void computeLocalAABB() override;
 
  int beginModel(int num_tris = 0, int num_vertices = 0);
 
  int addVertex(const Vector3<S>& p);
 
  int addTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const Vector3<S>& p3);
 
  int addSubModel(const std::vector<Vector3<S>>& ps, const std::vector<Triangle>& ts);
 
  int addSubModel(const std::vector<Vector3<S>>& ps);
 
  int endModel();
 
 
  int beginReplaceModel();
 
  int replaceVertex(const Vector3<S>& p);
 
  int replaceTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const Vector3<S>& p3);
 
  int replaceSubModel(const std::vector<Vector3<S>>& ps);
 
  int endReplaceModel(bool refit = true, bool bottomup = true);
 
 
  int beginUpdateModel();
 
  int updateVertex(const Vector3<S>& p);
 
  int updateTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const Vector3<S>& p3);
 
  int updateSubModel(const std::vector<Vector3<S>>& ps);
 
  int endUpdateModel(bool refit = true, bool bottomup = true);
 
  int memUsage(int msg) const;
 
  void makeParentRelative();
 
  Vector3<S> computeCOM() const override;
 
  S computeVolume() const override;
 
  Matrix3<S> computeMomentofInertia() const override;
 
public:
  Vector3<S>* vertices;
 
  Triangle* tri_indices;
 
  Vector3<S>* prev_vertices;
 
  int num_tris;
 
  int num_vertices;
 
  BVHBuildState build_state;
 
  std::shared_ptr<detail::BVSplitterBase<BV>> bv_splitter;
 
  std::shared_ptr<detail::BVFitterBase<BV>> bv_fitter;
 
private:
 
  int num_tris_allocated;
  int num_vertices_allocated;
  int num_bvs_allocated;
  int num_vertex_updated; 
  unsigned int* primitive_indices;
 
  BVNode<BV>* bvs;
 
  int num_bvs;
 
  int buildTree();
 
  int refitTree(bool bottomup);
 
  int refitTree_topdown();
 
  int refitTree_bottomup();
 
  int recursiveBuildTree(int bv_id, int first_primitive, int num_primitives);
 
  int recursiveRefitTree_bottomup(int bv_id);
 
  void makeParentRelativeRecurse(
      int bv_id,
      const Matrix3<S>& parent_axis,
      const Vector3<S>& parent_c);
 
  template <typename, typename>
  friend struct MakeParentRelativeRecurseImpl;
};
 
} // namespace fcl
 
#include "fcl/geometry/bvh/BVH_model-inl.h"
 
#endif