A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...

#include <BVH_model.h>

Inheritance diagram for hpp::fcl::BVHModelBase:

[legend]

Public Member Functions
int	addSubModel (const std::vector< Vec3f > &ps, const std::vector< Triangle > &ts)
	Add a set of triangles in the new BVH model. More...

int	addSubModel (const std::vector< Vec3f > &ps)
	Add a set of points 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 ()

Public Attributes
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...

Protected Member Functions
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
unsigned int	num_tris_allocated

unsigned int	num_vertex_updated

unsigned int	num_vertices_allocated

Detailed Description

A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)

Definition at line 63 of file BVH/BVH_model.h.

Constructor & Destructor Documentation

◆ BVHModelBase() [1/2]

hpp::fcl::BVHModelBase::BVHModelBase ( )

Constructing an empty BVH.

Definition at line 53 of file BVH_model.cpp.

◆ BVHModelBase() [2/2]

hpp::fcl::BVHModelBase::BVHModelBase ( const BVHModelBase & other )

copy from another BVH

Definition at line 64 of file BVH_model.cpp.

◆ ~BVHModelBase()

virtual hpp::fcl::BVHModelBase::~BVHModelBase ( )

inlinevirtual

deconstruction, delete mesh data related.

Definition at line 103 of file BVH/BVH_model.h.

Member Function Documentation

◆ addSubModel() [1/2]

int hpp::fcl::BVHModelBase::addSubModel	(	const std::vector< Vec3f > &	ps,
		const std::vector< Triangle > &	ts
	)

Add a set of triangles in the new BVH model.

Definition at line 410 of file BVH_model.cpp.

◆ addSubModel() [2/2]

int hpp::fcl::BVHModelBase::addSubModel ( const std::vector< Vec3f > & ps )

Add a set of points in the new BVH model.

Definition at line 374 of file BVH_model.cpp.

◆ addTriangle()

int hpp::fcl::BVHModelBase::addTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3
	)

Add one triangle in the new BVH model.

Definition at line 317 of file BVH_model.cpp.

◆ addTriangles()

int hpp::fcl::BVHModelBase::addTriangles ( const Matrixx3i & triangles )

Add triangles in the new BVH model.

Definition at line 251 of file BVH_model.cpp.

◆ addVertex()

int hpp::fcl::BVHModelBase::addVertex ( const Vec3f & p )

Add one point in the new BVH model.

Definition at line 221 of file BVH_model.cpp.

◆ addVertices()

int hpp::fcl::BVHModelBase::addVertices ( const Matrixx3f & points )

Add points in the new BVH model.

Definition at line 287 of file BVH_model.cpp.

◆ allocateBVs()

virtual bool hpp::fcl::BVHModelBase::allocateBVs ( )

protectedpure virtual

Implemented in hpp::fcl::BVHModel< BV >.

◆ beginModel()

int hpp::fcl::BVHModelBase::beginModel	(	unsigned int	num_tris = `0`,
		unsigned int	num_vertices = `0`
	)

Begin a new BVH model.

Definition at line 170 of file BVH_model.cpp.

◆ beginReplaceModel()

int hpp::fcl::BVHModelBase::beginReplaceModel ( )

Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame)

Definition at line 533 of file BVH_model.cpp.

◆ beginUpdateModel()

int hpp::fcl::BVHModelBase::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.

Definition at line 629 of file BVH_model.cpp.

◆ buildConvexHull()

bool hpp::fcl::BVHModelBase::buildConvexHull	(	bool	keepTriangle,
		const char *	qhullCommand = `NULL`
	)

Build a convex hull and store it in attribute convex.

Parameters

keepTriangle	whether the convex should be triangulated.
qhullCommand	see ConvexBase::convexHull.

Returns: true if this object is convex, hence the convex hull represents the same object.

See also: ConvexBase::convexHull

Warning: At the moment, the return value only checks whether there are as many points in the convex hull as in the original object. This is neither necessary (duplicated vertices get merged) nor sufficient (think of a U with 4 vertices and 3 edges).

Definition at line 132 of file BVH_model.cpp.

◆ buildConvexRepresentation()

void hpp::fcl::BVHModelBase::buildConvexRepresentation ( bool share_memory )

Build this Convex<Triangle> representation of this model. The result is stored in attribute convex.

Note: this only takes the points of this model. It does not check that the object is convex. It does not compute a convex hull.

Definition at line 116 of file BVH_model.cpp.

◆ buildTree()

virtual int hpp::fcl::BVHModelBase::buildTree ( )

protectedpure virtual

Build the bounding volume hierarchy.

Implemented in hpp::fcl::BVHModel< BV >.

◆ computeCOM()

Vec3f hpp::fcl::BVHModelBase::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 203 of file BVH/BVH_model.h.

◆ computeLocalAABB()

void hpp::fcl::BVHModelBase::computeLocalAABB ( )

virtual

Compute the AABB for the BVH, used for broad-phase collision.

Implements hpp::fcl::CollisionGeometry.

Definition at line 736 of file BVH_model.cpp.

◆ computeMomentofInertia()

Matrix3f hpp::fcl::BVHModelBase::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 230 of file BVH/BVH_model.h.

◆ computeVolume()

FCL_REAL hpp::fcl::BVHModelBase::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 218 of file BVH/BVH_model.h.

◆ deleteBVs()

virtual void hpp::fcl::BVHModelBase::deleteBVs ( )

protectedpure virtual

Implemented in hpp::fcl::BVHModel< BV >.

◆ endModel()

int hpp::fcl::BVHModelBase::endModel ( )

End BVH model construction, will build the bounding volume hierarchy.

Definition at line 473 of file BVH_model.cpp.

◆ endReplaceModel()

int hpp::fcl::BVHModelBase::endReplaceModel	(	bool	refit = `true`,
		bool	bottomup = `true`
	)

End BVH model replacement, will also refit or rebuild the bounding volume hierarchy.

Definition at line 601 of file BVH_model.cpp.

◆ endUpdateModel()

int hpp::fcl::BVHModelBase::endUpdateModel	(	bool	refit = `true`,
		bool	bottomup = `true`
	)

End BVH model update, will also refit or rebuild the bounding volume hierarchy.

Definition at line 704 of file BVH_model.cpp.

◆ getModelType()

BVHModelType hpp::fcl::BVHModelBase::getModelType ( ) const

inline

Model type described by the instance.

Definition at line 87 of file BVH/BVH_model.h.

◆ getObjectType()

OBJECT_TYPE hpp::fcl::BVHModelBase::getObjectType ( ) const

inlinevirtual

Get the object type: it is a BVH.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 110 of file BVH/BVH_model.h.

◆ isEqual()

bool hpp::fcl::BVHModelBase::isEqual ( const CollisionGeometry & other ) const

protectedvirtual

for ccd vertex update

Comparison operators

Implements hpp::fcl::CollisionGeometry.

Reimplemented in hpp::fcl::BVHModel< BV >.

Definition at line 91 of file BVH_model.cpp.

◆ makeParentRelative()

virtual void hpp::fcl::BVHModelBase::makeParentRelative ( )

pure virtual

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.

Implemented in hpp::fcl::BVHModel< BV >.

◆ memUsage()

virtual int hpp::fcl::BVHModelBase::memUsage ( const bool msg = false ) const

pure virtual

Implemented in hpp::fcl::BVHModel< BV >.

◆ refitTree()

virtual int hpp::fcl::BVHModelBase::refitTree ( bool bottomup )

protectedpure virtual

Refit the bounding volume hierarchy.

Implemented in hpp::fcl::BVHModel< BV >.

◆ replaceSubModel()

int hpp::fcl::BVHModelBase::replaceSubModel ( const std::vector< Vec3f > & ps )

Replace a set of points in the old BVH model.

Definition at line 585 of file BVH_model.cpp.

◆ replaceTriangle()

int hpp::fcl::BVHModelBase::replaceTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3
	)

Replace one triangle in the old BVH model.

Definition at line 566 of file BVH_model.cpp.

◆ replaceVertex()

int hpp::fcl::BVHModelBase::replaceVertex ( const Vec3f & p )

Replace one point in the old BVH model.

Definition at line 551 of file BVH_model.cpp.

◆ updateSubModel()

int hpp::fcl::BVHModelBase::updateSubModel ( const std::vector< Vec3f > & ps )

Update a set of points in the old BVH model.

Definition at line 688 of file BVH_model.cpp.

◆ updateTriangle()

int hpp::fcl::BVHModelBase::updateTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3
	)

Update one triangle in the old BVH model.

Definition at line 669 of file BVH_model.cpp.

◆ updateVertex()

int hpp::fcl::BVHModelBase::updateVertex ( const Vec3f & p )

Update one point in the old BVH model.

Definition at line 654 of file BVH_model.cpp.

Member Data Documentation

◆ build_state

BVHBuildState hpp::fcl::BVHModelBase::build_state

The state of BVH building process.

Definition at line 81 of file BVH/BVH_model.h.

◆ convex

shared_ptr<ConvexBase> hpp::fcl::BVHModelBase::convex

Convex<Triangle> representation of this object.

Definition at line 84 of file BVH/BVH_model.h.

◆ num_tris

unsigned int hpp::fcl::BVHModelBase::num_tris

Number of triangles.

Definition at line 75 of file BVH/BVH_model.h.

◆ num_tris_allocated

unsigned int hpp::fcl::BVHModelBase::num_tris_allocated

protected

Definition at line 260 of file BVH/BVH_model.h.

◆ num_vertex_updated

unsigned int hpp::fcl::BVHModelBase::num_vertex_updated

protected

Definition at line 262 of file BVH/BVH_model.h.

◆ num_vertices

unsigned int hpp::fcl::BVHModelBase::num_vertices

Number of points.

Definition at line 78 of file BVH/BVH_model.h.

◆ num_vertices_allocated

unsigned int hpp::fcl::BVHModelBase::num_vertices_allocated

protected

Definition at line 261 of file BVH/BVH_model.h.

◆ prev_vertices

Vec3f* hpp::fcl::BVHModelBase::prev_vertices

Geometry point data in previous frame.

Definition at line 72 of file BVH/BVH_model.h.

◆ tri_indices

Triangle* hpp::fcl::BVHModelBase::tri_indices

Geometry triangle index data, will be NULL for point clouds.

Definition at line 69 of file BVH/BVH_model.h.

◆ vertices

Vec3f* hpp::fcl::BVHModelBase::vertices

Geometry point data.

Definition at line 66 of file BVH/BVH_model.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BVHModelBase() [1/2]

◆ BVHModelBase() [2/2]

◆ ~BVHModelBase()

Member Function Documentation

◆ addSubModel() [1/2]

◆ addSubModel() [2/2]

◆ addTriangle()

◆ addTriangles()

◆ addVertex()

◆ addVertices()

◆ allocateBVs()

◆ beginModel()

◆ beginReplaceModel()

◆ beginUpdateModel()

◆ buildConvexHull()

◆ buildConvexRepresentation()

◆ buildTree()

◆ computeCOM()

◆ computeLocalAABB()

◆ computeMomentofInertia()

◆ computeVolume()

◆ deleteBVs()

◆ endModel()

◆ endReplaceModel()

◆ endUpdateModel()

◆ getModelType()

◆ getObjectType()

◆ isEqual()

◆ makeParentRelative()

◆ memUsage()

◆ refitTree()

◆ replaceSubModel()

◆ replaceTriangle()

◆ replaceVertex()

◆ updateSubModel()

◆ updateTriangle()

◆ updateVertex()

Member Data Documentation

◆ build_state

◆ convex

◆ num_tris

◆ num_tris_allocated

◆ num_vertex_updated

◆ num_vertices

◆ num_vertices_allocated

◆ prev_vertices

◆ tri_indices

◆ vertices