#include <BVH_model.h>
Inheritance diagram for boost::serialization::internal::BVHModelBaseAccessor:
Public Types | |
| typedef hpp::fcl::BVHModelBase | Base |
Public Attributes | |
| unsigned int | num_tris_allocated |
| unsigned int | num_vertices_allocated |
 Public Attributes inherited from hpp::fcl::BVHModelBase | |
| BVHBuildState | build_state |
| The state of BVH building process. More... | |
| shared_ptr< ConvexBase > | convex |
| Convex<Triangle> representation of this object. More... | |
| unsigned int | num_tris |
| Number of triangles. More... | |
| unsigned int | num_vertices |
| Number of points. More... | |
| Vec3f * | prev_vertices |
| Geometry point data in previous frame. More... | |
| Triangle * | tri_indices |
| Geometry triangle index data, will be NULL for point clouds. More... | |
| Vec3f * | vertices |
| Geometry point data. More... | |
| Public Attributes inherited from hpp::fcl::CollisionGeometry | |
| Vec3f | aabb_center |
| AABB center in local coordinate. More... | |
| AABB | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. More... | |
| FCL_REAL | aabb_radius |
| AABB radius. More... | |
| FCL_REAL | cost_density |
| collision cost for unit volume More... | |
| FCL_REAL | threshold_free |
| threshold for free (<= is free) More... | |
| FCL_REAL | threshold_occupied |
| threshold for occupied ( >= is occupied) More... | |
| void * | user_data |
| pointer to user defined data specific to this object More... | |
Additional Inherited Members | |
| Public Member Functions inherited from hpp::fcl::BVHModelBase | |
| int | addSubModel (const std::vector< Vec3f > &ps) |
| Add a set of points in the new BVH model. More... | |
| int | addSubModel (const std::vector< Vec3f > &ps, const std::vector< Triangle > &ts) |
| Add a set of triangles in the new BVH model. More... | |
| int | addTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
| Add one triangle in the new BVH model. More... | |
| int | addTriangles (const Matrixx3i &triangles) |
| Add triangles in the new BVH model. More... | |
| int | addVertex (const Vec3f &p) |
| Add one point in the new BVH model. More... | |
| int | addVertices (const Matrixx3f &points) |
| Add points in the new BVH model. More... | |
| int | beginModel (unsigned int num_tris=0, unsigned int num_vertices=0) |
| Begin a new BVH model. More... | |
| int | beginReplaceModel () |
| Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame) More... | |
| int | beginUpdateModel () |
| Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame). The current frame will be saved as the previous frame in prev_vertices. More... | |
| bool | buildConvexHull (bool keepTriangle, const char *qhullCommand=NULL) |
| Build a convex hull and store it in attribute convex. More... | |
| void | buildConvexRepresentation (bool share_memory) |
| Build this Convex<Triangle> representation of this model. The result is stored in attribute convex. More... | |
| BVHModelBase () | |
| Constructing an empty BVH. More... | |
| BVHModelBase (const BVHModelBase &other) | |
| copy from another BVH More... | |
| Vec3f | computeCOM () const |
| compute center of mass More... | |
| void | computeLocalAABB () |
| Compute the AABB for the BVH, used for broad-phase collision. More... | |
| Matrix3f | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin More... | |
| FCL_REAL | computeVolume () const |
| compute the volume More... | |
| int | endModel () |
| End BVH model construction, will build the bounding volume hierarchy. More... | |
| int | endReplaceModel (bool refit=true, bool bottomup=true) |
| End BVH model replacement, will also refit or rebuild the bounding volume hierarchy. More... | |
| int | endUpdateModel (bool refit=true, bool bottomup=true) |
| End BVH model update, will also refit or rebuild the bounding volume hierarchy. More... | |
| BVHModelType | getModelType () const |
| Model type described by the instance. More... | |
| OBJECT_TYPE | getObjectType () const |
| Get the object type: it is a BVH. More... | |
| virtual void | makeParentRelative ()=0 |
| This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent BV node. When traversing the BVH, this can save one matrix transformation. More... | |
| virtual int | memUsage (const bool msg=false) const =0 |
| int | replaceSubModel (const std::vector< Vec3f > &ps) |
| Replace a set of points in the old BVH model. More... | |
| int | replaceTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
| Replace one triangle in the old BVH model. More... | |
| int | replaceVertex (const Vec3f &p) |
| Replace one point in the old BVH model. More... | |
| int | updateSubModel (const std::vector< Vec3f > &ps) |
| Update a set of points in the old BVH model. More... | |
| int | updateTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
| Update one triangle in the old BVH model. More... | |
| int | updateVertex (const Vec3f &p) |
| Update one point in the old BVH model. More... | |
| virtual | ~BVHModelBase () |
| deconstruction, delete mesh data related. More... | |
| Public Member Functions inherited from hpp::fcl::CollisionGeometry | |
| virtual CollisionGeometry * | clone () const =0 |
| Clone *this into a new CollisionGeometry. More... | |
| CollisionGeometry () | |
| CollisionGeometry (const CollisionGeometry &other)=default | |
| Copy constructor. More... | |
| virtual Matrix3f | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com More... | |
| virtual NODE_TYPE | getNodeType () const |
| get the node type More... | |
| void * | getUserData () const |
| get user data in geometry More... | |
| bool | isFree () const |
| whether the object is completely free More... | |
| bool | isOccupied () const |
| whether the object is completely occupied More... | |
| bool | isUncertain () const |
| whether the object has some uncertainty More... | |
| bool | operator!= (const CollisionGeometry &other) const |
| Difference operator. More... | |
| bool | operator== (const CollisionGeometry &other) const |
| Equality operator. More... | |
| void | setUserData (void *data) |
| set user data in geometry More... | |
| virtual | ~CollisionGeometry () |
| Protected Member Functions inherited from hpp::fcl::BVHModelBase | |
| virtual bool | allocateBVs ()=0 |
| virtual int | buildTree ()=0 |
| Build the bounding volume hierarchy. More... | |
| virtual void | deleteBVs ()=0 |
| virtual bool | isEqual (const CollisionGeometry &other) const |
| for ccd vertex update More... | |
| virtual int | refitTree (bool bottomup)=0 |
| Refit the bounding volume hierarchy. More... | |
| Protected Attributes inherited from hpp::fcl::BVHModelBase | |
| unsigned int | num_tris_allocated |
| unsigned int | num_vertex_updated |
| unsigned int | num_vertices_allocated |
Detailed Description
Definition at line 21 of file serialization/BVH_model.h.
Member Typedef Documentation
◆ Base
Definition at line 22 of file serialization/BVH_model.h.
Member Data Documentation
◆ num_tris_allocated
| unsigned int hpp::fcl::BVHModelBase::num_tris_allocated |
Definition at line 260 of file BVH/BVH_model.h.
◆ num_vertices_allocated
| unsigned int hpp::fcl::BVHModelBase::num_vertices_allocated |
Definition at line 261 of file BVH/BVH_model.h.
The documentation for this struct was generated from the following file: