BV_splitter.h

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#ifndef FCL_BV_SPLITTER_H
#define FCL_BV_SPLITTER_H
 
#include <vector>
#include <iostream>
#include "fcl/math/triangle.h"
#include "fcl/math/bv/kIOS.h"
#include "fcl/math/bv/OBBRSS.h"
#include "fcl/geometry/bvh/BVH_internal.h"
#include "fcl/geometry/bvh/detail/BV_splitter_base.h"
 
namespace fcl
{
 
namespace detail
{
 
enum SplitMethodType
{
  SPLIT_METHOD_MEAN,
  SPLIT_METHOD_MEDIAN,
  SPLIT_METHOD_BV_CENTER
};
 
template <typename BV>
class FCL_EXPORT BVSplitter : public BVSplitterBase<BV>
{
public:
 
  using S = typename BV::S;
 
  BVSplitter(SplitMethodType method);
 
  virtual ~BVSplitter();
 
  void set(
      Vector3<S>* vertices_, Triangle* tri_indices_, BVHModelType type_);
 
  void computeRule(
      const BV& bv, unsigned int* primitive_indices, int num_primitives);
 
  bool apply(const Vector3<S>& q) const;
 
  void clear();
 
private:
 
  int split_axis;
  Vector3<S> split_vector;
 
  S split_value;
 
  Vector3<S>* vertices;
 
  Triangle* tri_indices;
 
  BVHModelType type;
 
  SplitMethodType split_method;
 
  void computeRule_bvcenter(
      const BV& bv, unsigned int* primitive_indices, int num_primitives);
 
  void computeRule_mean(
      const BV& bv, unsigned int* primitive_indices, int num_primitives);
 
  void computeRule_median(
      const BV& bv, unsigned int* primitive_indices, int num_primitives);
 
  template <typename, typename>
  friend struct ApplyImpl;
 
  template <typename, typename>
  friend struct ComputeRuleCenterImpl;
 
  template <typename, typename>
  friend struct ComputeRuleMeanImpl;
 
  template <typename, typename>
  friend struct ComputeRuleMedianImpl;
};
 
template <typename S, typename BV>
void computeSplitVector(const BV& bv, Vector3<S>& split_vector);
 
template <typename S, typename BV>
void computeSplitValue_bvcenter(const BV& bv, S& split_value);
 
template <typename S, typename BV>
void computeSplitValue_mean(
    const BV& bv,
    Vector3<S>* vertices,
    Triangle* triangles,
    unsigned int* primitive_indices,
    int num_primitives,
    BVHModelType type,
    const Vector3<S>& split_vector,
    S& split_value);
 
template <typename S, typename BV>
void computeSplitValue_median(
    const BV& bv,
    Vector3<S>* vertices,
    Triangle* triangles,
    unsigned int* primitive_indices,
    int num_primitives,
    BVHModelType type,
    const Vector3<S>& split_vector,
    S& split_value);
 
} // namespace detail
} // namespace fcl
 
#include "fcl/geometry/bvh/detail/BV_splitter-inl.h"
 
#endif