A class describing the split rule that splits each BV node. More...

#include <BVH_model.h>

Inheritance diagram for hpp::fcl::BVSplitter< BV >:

Public Member Functions
bool	apply (const Vec3f &q) const
	Apply the split rule on a given point. More...

bool HPP_FCL_DLLAPI	apply (const Vec3f &q) const

bool HPP_FCL_DLLAPI	apply (const Vec3f &q) const

bool HPP_FCL_DLLAPI	apply (const Vec3f &q) const

bool HPP_FCL_DLLAPI	apply (const Vec3f &q) const

bool	apply (const Vec3f &q) const

bool	apply (const Vec3f &q) const

bool	apply (const Vec3f &q) const

bool	apply (const Vec3f &q) const

	BVSplitter (SplitMethodType method)

void	clear ()
	Clear the geometry data set before. More...

void	computeRule (const BV &bv, unsigned int *primitive_indices, unsigned int num_primitives)
	Compute the split rule according to a subset of geometry and the corresponding BV node. More...

void	set (Vec3f vertices_, Triangle tri_indices_, BVHModelType type_)
	Set the geometry data needed by the split rule. More...

virtual	~BVSplitter ()
	Default deconstructor. More...

Protected Member Functions
void	computeRule_bvcenter (const BV &bv, unsigned int *, unsigned int)
	Split algorithm 1: Split the node from center. More...

void	computeRule_bvcenter (const kIOS &bv, unsigned int *, unsigned int)

void HPP_FCL_DLLAPI	computeRule_bvcenter (const kIOS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_bvcenter (const OBB &bv, unsigned int *, unsigned int)

void HPP_FCL_DLLAPI	computeRule_bvcenter (const OBB &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_bvcenter (const OBBRSS &bv, unsigned int *, unsigned int)

void HPP_FCL_DLLAPI	computeRule_bvcenter (const OBBRSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_bvcenter (const RSS &bv, unsigned int *, unsigned int)

void HPP_FCL_DLLAPI	computeRule_bvcenter (const RSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_mean (const BV &bv, unsigned int *primitive_indices, unsigned int num_primitives)
	Split algorithm 2: Split the node according to the mean of the data contained. More...

void	computeRule_mean (const kIOS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void HPP_FCL_DLLAPI	computeRule_mean (const kIOS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_mean (const OBB &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void HPP_FCL_DLLAPI	computeRule_mean (const OBB &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_mean (const OBBRSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void HPP_FCL_DLLAPI	computeRule_mean (const OBBRSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_mean (const RSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void HPP_FCL_DLLAPI	computeRule_mean (const RSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_median (const BV &bv, unsigned int *primitive_indices, unsigned int num_primitives)
	Split algorithm 3: Split the node according to the median of the data contained. More...

void	computeRule_median (const kIOS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void HPP_FCL_DLLAPI	computeRule_median (const kIOS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_median (const OBB &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void HPP_FCL_DLLAPI	computeRule_median (const OBB &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_median (const OBBRSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void HPP_FCL_DLLAPI	computeRule_median (const OBBRSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void	computeRule_median (const RSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

void HPP_FCL_DLLAPI	computeRule_median (const RSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)

Protected Attributes
int	split_axis
	The axis based on which the split decision is made. For most BV, the axis is aligned with one of the world coordinate, so only split_axis is needed. For oriented node, we can use a vector to make a better split decision. More...

SplitMethodType	split_method
	The split algorithm used. More...

FCL_REAL	split_value
	The split threshold, different primitives are splitted according whether their projection on the split_axis is larger or smaller than the threshold. More...

Vec3f	split_vector

Triangle *	tri_indices
	The triangles handled by the splitter. More...

BVHModelType	type
	Whether the geometry is mesh or point cloud. More...

Vec3f *	vertices
	The mesh vertices or points handled by the splitter. More...

Detailed Description

template<typename BV>
class hpp::fcl::BVSplitter< BV >

A class describing the split rule that splits each BV node.

Definition at line 59 of file BVH/BVH_model.h.

Constructor & Destructor Documentation

◆ BVSplitter()

template<typename BV >

hpp::fcl::BVSplitter< BV >::BVSplitter ( SplitMethodType method )

inline

Definition at line 61 of file internal/BV_splitter.h.

◆ ~BVSplitter()

template<typename BV >

virtual hpp::fcl::BVSplitter< BV >::~BVSplitter ( )

inlinevirtual

Default deconstructor.

Definition at line 65 of file internal/BV_splitter.h.

Member Function Documentation

◆ apply() [1/9]

template<typename BV >

bool hpp::fcl::BVSplitter< BV >::apply ( const Vec3f & q ) const

inline

Apply the split rule on a given point.

Definition at line 94 of file internal/BV_splitter.h.

◆ apply() [2/9]

bool HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBB >::apply ( const Vec3f & q ) const

◆ apply() [3/9]

bool HPP_FCL_DLLAPI hpp::fcl::BVSplitter< RSS >::apply ( const Vec3f & q ) const

◆ apply() [4/9]

bool HPP_FCL_DLLAPI hpp::fcl::BVSplitter< kIOS >::apply ( const Vec3f & q ) const

◆ apply() [5/9]

bool HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBBRSS >::apply ( const Vec3f & q ) const

◆ apply() [6/9]

bool hpp::fcl::BVSplitter< OBB >::apply ( const Vec3f & q ) const

Definition at line 262 of file BV_splitter.cpp.

◆ apply() [7/9]

bool hpp::fcl::BVSplitter< RSS >::apply ( const Vec3f & q ) const

Definition at line 267 of file BV_splitter.cpp.

◆ apply() [8/9]

bool hpp::fcl::BVSplitter< kIOS >::apply ( const Vec3f & q ) const

Definition at line 272 of file BV_splitter.cpp.

◆ apply() [9/9]

bool hpp::fcl::BVSplitter< OBBRSS >::apply ( const Vec3f & q ) const

Definition at line 277 of file BV_splitter.cpp.

◆ clear()

template<typename BV >

void hpp::fcl::BVSplitter< BV >::clear ( )

inline

Clear the geometry data set before.

Definition at line 97 of file internal/BV_splitter.h.

◆ computeRule()

template<typename BV >

void hpp::fcl::BVSplitter< BV >::computeRule	(	const BV &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

inline

Compute the split rule according to a subset of geometry and the corresponding BV node.

Definition at line 76 of file internal/BV_splitter.h.

◆ computeRule_bvcenter() [1/9]

template<typename BV >

void hpp::fcl::BVSplitter< BV >::computeRule_bvcenter	(	const BV &	bv,
		unsigned int *	,
		unsigned int
	)

inlineprotected

Split algorithm 1: Split the node from center.

Definition at line 129 of file internal/BV_splitter.h.

◆ computeRule_bvcenter() [2/9]

void hpp::fcl::BVSplitter< kIOS >::computeRule_bvcenter	(	const kIOS &	bv,
		unsigned int *	,
		unsigned int
	)

protected

Definition at line 209 of file BV_splitter.cpp.

◆ computeRule_bvcenter() [3/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< kIOS >::computeRule_bvcenter	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_bvcenter() [4/9]

void hpp::fcl::BVSplitter< OBB >::computeRule_bvcenter	(	const OBB &	bv,
		unsigned int *	,
		unsigned int
	)

protected

Definition at line 157 of file BV_splitter.cpp.

◆ computeRule_bvcenter() [5/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBB >::computeRule_bvcenter	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_bvcenter() [6/9]

void hpp::fcl::BVSplitter< OBBRSS >::computeRule_bvcenter	(	const OBBRSS &	bv,
		unsigned int *	,
		unsigned int
	)

protected

Definition at line 235 of file BV_splitter.cpp.

◆ computeRule_bvcenter() [7/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBBRSS >::computeRule_bvcenter	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_bvcenter() [8/9]

void hpp::fcl::BVSplitter< RSS >::computeRule_bvcenter	(	const RSS &	bv,
		unsigned int *	,
		unsigned int
	)

protected

Definition at line 183 of file BV_splitter.cpp.

◆ computeRule_bvcenter() [9/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< RSS >::computeRule_bvcenter	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_mean() [1/9]

template<typename BV >

void hpp::fcl::BVSplitter< BV >::computeRule_mean	(	const BV &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

inlineprotected

Split algorithm 2: Split the node according to the mean of the data contained.

Definition at line 144 of file internal/BV_splitter.h.

◆ computeRule_mean() [2/9]

void hpp::fcl::BVSplitter< kIOS >::computeRule_mean	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

Definition at line 216 of file BV_splitter.cpp.

◆ computeRule_mean() [3/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< kIOS >::computeRule_mean	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_mean() [4/9]

void hpp::fcl::BVSplitter< OBB >::computeRule_mean	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

Definition at line 164 of file BV_splitter.cpp.

◆ computeRule_mean() [5/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBB >::computeRule_mean	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_mean() [6/9]

void hpp::fcl::BVSplitter< OBBRSS >::computeRule_mean	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

Definition at line 242 of file BV_splitter.cpp.

◆ computeRule_mean() [7/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBBRSS >::computeRule_mean	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_mean() [8/9]

void hpp::fcl::BVSplitter< RSS >::computeRule_mean	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

Definition at line 190 of file BV_splitter.cpp.

◆ computeRule_mean() [9/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< RSS >::computeRule_mean	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_median() [1/9]

template<typename BV >

void hpp::fcl::BVSplitter< BV >::computeRule_median	(	const BV &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

inlineprotected

Split algorithm 3: Split the node according to the median of the data contained.

Definition at line 175 of file internal/BV_splitter.h.

◆ computeRule_median() [2/9]

void hpp::fcl::BVSplitter< kIOS >::computeRule_median	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

Definition at line 225 of file BV_splitter.cpp.

◆ computeRule_median() [3/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< kIOS >::computeRule_median	(	const kIOS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_median() [4/9]

void hpp::fcl::BVSplitter< OBB >::computeRule_median	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

Definition at line 173 of file BV_splitter.cpp.

◆ computeRule_median() [5/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBB >::computeRule_median	(	const OBB &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_median() [6/9]

void hpp::fcl::BVSplitter< OBBRSS >::computeRule_median	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

Definition at line 252 of file BV_splitter.cpp.

◆ computeRule_median() [7/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBBRSS >::computeRule_median	(	const OBBRSS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ computeRule_median() [8/9]

void hpp::fcl::BVSplitter< RSS >::computeRule_median	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

Definition at line 199 of file BV_splitter.cpp.

◆ computeRule_median() [9/9]

void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< RSS >::computeRule_median	(	const RSS &	bv,
		unsigned int *	primitive_indices,
		unsigned int	num_primitives
	)

protected

◆ set()

template<typename BV >

void hpp::fcl::BVSplitter< BV >::set	(	Vec3f *	vertices_,
		Triangle *	tri_indices_,
		BVHModelType	type_
	)

inline

Set the geometry data needed by the split rule.

Definition at line 68 of file internal/BV_splitter.h.

Member Data Documentation

◆ split_axis

template<typename BV >

int hpp::fcl::BVSplitter< BV >::split_axis

protected

The axis based on which the split decision is made. For most BV, the axis is aligned with one of the world coordinate, so only split_axis is needed. For oriented node, we can use a vector to make a better split decision.

Definition at line 108 of file internal/BV_splitter.h.

◆ split_method

template<typename BV >

SplitMethodType hpp::fcl::BVSplitter< BV >::split_method

protected

The split algorithm used.

Definition at line 126 of file internal/BV_splitter.h.

◆ split_value

template<typename BV >

FCL_REAL hpp::fcl::BVSplitter< BV >::split_value

protected

The split threshold, different primitives are splitted according whether their projection on the split_axis is larger or smaller than the threshold.

Definition at line 114 of file internal/BV_splitter.h.

◆ split_vector

template<typename BV >

Vec3f hpp::fcl::BVSplitter< BV >::split_vector

protected

Definition at line 109 of file internal/BV_splitter.h.

◆ tri_indices

template<typename BV >

Triangle* hpp::fcl::BVSplitter< BV >::tri_indices

protected

The triangles handled by the splitter.

Definition at line 120 of file internal/BV_splitter.h.

◆ type

template<typename BV >

BVHModelType hpp::fcl::BVSplitter< BV >::type

protected

Whether the geometry is mesh or point cloud.

Definition at line 123 of file internal/BV_splitter.h.

◆ vertices

template<typename BV >

Vec3f* hpp::fcl::BVSplitter< BV >::vertices

protected

The mesh vertices or points handled by the splitter.

Definition at line 117 of file internal/BV_splitter.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename BV> class hpp::fcl::BVSplitter< BV >

Constructor & Destructor Documentation

◆ BVSplitter()

◆ ~BVSplitter()

Member Function Documentation

◆ apply() [1/9]

◆ apply() [2/9]

◆ apply() [3/9]

◆ apply() [4/9]

◆ apply() [5/9]

◆ apply() [6/9]

◆ apply() [7/9]

◆ apply() [8/9]

◆ apply() [9/9]

◆ clear()

◆ computeRule()

◆ computeRule_bvcenter() [1/9]

◆ computeRule_bvcenter() [2/9]

◆ computeRule_bvcenter() [3/9]

◆ computeRule_bvcenter() [4/9]

◆ computeRule_bvcenter() [5/9]

◆ computeRule_bvcenter() [6/9]

◆ computeRule_bvcenter() [7/9]

◆ computeRule_bvcenter() [8/9]

◆ computeRule_bvcenter() [9/9]

◆ computeRule_mean() [1/9]

◆ computeRule_mean() [2/9]

◆ computeRule_mean() [3/9]

◆ computeRule_mean() [4/9]

◆ computeRule_mean() [5/9]

◆ computeRule_mean() [6/9]

◆ computeRule_mean() [7/9]

◆ computeRule_mean() [8/9]

◆ computeRule_mean() [9/9]

◆ computeRule_median() [1/9]

◆ computeRule_median() [2/9]

◆ computeRule_median() [3/9]

◆ computeRule_median() [4/9]

◆ computeRule_median() [5/9]

◆ computeRule_median() [6/9]

◆ computeRule_median() [7/9]

◆ computeRule_median() [8/9]

◆ computeRule_median() [9/9]

◆ set()

Member Data Documentation

◆ split_axis

◆ split_method

◆ split_value

◆ split_vector

◆ tri_indices

◆ type

◆ vertices

template<typename BV>
class hpp::fcl::BVSplitter< BV >