BVH_utility-inl.h

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#ifndef FCL_BVH_UTILITY_INL_H
#define FCL_BVH_UTILITY_INL_H
 
#include "fcl/geometry/bvh/BVH_utility.h"
 
#include "fcl/math/bv/utility.h"
 
namespace fcl
{
 
//==============================================================================
extern template
void BVHExpand(
    BVHModel<OBB<double>>& model, const Variance3<double>* ucs, double r);
 
//==============================================================================
extern template
void BVHExpand(
    BVHModel<RSS<double>>& model, const Variance3<double>* ucs, double r);
 
//==============================================================================
template <typename S, typename BV>
FCL_EXPORT
void BVHExpand(BVHModel<BV>& model, const Variance3<S>* ucs, S r)
{
  for(int i = 0; i < model.num_bvs; ++i)
  {
    BVNode<BV>& bvnode = model.getBV(i);
 
    BV bv;
    for(int j = 0; j < bvnode.num_primitives; ++j)
    {
      int v_id = bvnode.first_primitive + j;
      const Variance3<S>& uc = ucs[v_id];
 
      Vector3<S>& v = model.vertices[bvnode.first_primitive + j];
 
      for(int k = 0; k < 3; ++k)
      {
        bv += (v + uc.axis.col(k) * (r * uc.sigma[k]));
        bv += (v - uc.axis.col(k) * (r * uc.sigma[k]));
      }
    }
 
    bvnode.bv = bv;
  }
}
 
//==============================================================================
template <typename S>
FCL_EXPORT
void BVHExpand(
    BVHModel<OBB<S>>& model,
    const Variance3<S>* ucs,
    S r)
{
  for(int i = 0; i < model.getNumBVs(); ++i)
  {
    BVNode<OBB<S>>& bvnode = model.getBV(i);
 
    Vector3<S>* vs = new Vector3<S>[bvnode.num_primitives * 6];
    // TODO(JS): We could use one std::vector outside of the outter for-loop,
    // and reuse it rather than creating and destructing the array every
    // iteration.
 
    for(int j = 0; j < bvnode.num_primitives; ++j)
    {
      int v_id = bvnode.first_primitive + j;
      const Variance3<S>& uc = ucs[v_id];
 
      Vector3<S>&v = model.vertices[bvnode.first_primitive + j];
 
      for(int k = 0; k < 3; ++k)
      {
        const auto index1 = 6 * j + 2 * k;
        const auto index2 = index1 + 1;
        vs[index1] = v;
        vs[index1].noalias() += uc.axis.col(k) * (r * uc.sigma[k]);
        vs[index2] = v;
        vs[index2].noalias() -= uc.axis.col(k) * (r * uc.sigma[k]);
      }
    }
 
    OBB<S> bv;
    fit(vs, bvnode.num_primitives * 6, bv);
 
    delete [] vs;
 
    bvnode.bv = bv;
  }
}
 
//==============================================================================
template <typename S>
FCL_EXPORT
void BVHExpand(
    BVHModel<RSS<S>>& model,
    const Variance3<S>* ucs,
    S r)
{
  for(int i = 0; i < model.getNumBVs(); ++i)
  {
    BVNode<RSS<S>>& bvnode = model.getBV(i);
 
    Vector3<S>* vs = new Vector3<S>[bvnode.num_primitives * 6];
    // TODO(JS): We could use one std::vector outside of the outter for-loop,
    // and reuse it rather than creating and destructing the array every
    // iteration.
 
    for(int j = 0; j < bvnode.num_primitives; ++j)
    {
      int v_id = bvnode.first_primitive + j;
      const Variance3<S>& uc = ucs[v_id];
 
      Vector3<S>&v = model.vertices[bvnode.first_primitive + j];
 
      for(int k = 0; k < 3; ++k)
      {
        vs[6 * j + 2 * k] = v + uc.axis.col(k) * (r * uc.sigma[k]);
        vs[6 * j + 2 * k + 1] = v - uc.axis.col(k) * (r * uc.sigma[k]);
      }
    }
 
    RSS<S> bv;
    fit(vs, bvnode.num_primitives * 6, bv);
 
    delete [] vs;
 
    bvnode.bv = bv;
  }
}
 
} // namespace fcl
 
#endif