Public Types | List of all members
boost::serialization::internal::BVHModelBaseAccessor Struct Reference

#include <BVH_model.h>

Inheritance diagram for boost::serialization::internal::BVHModelBaseAccessor:
Inheritance graph
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Public Types

typedef hpp::fcl::BVHModelBase Base
 

Additional Inherited Members

- Public Member Functions inherited from hpp::fcl::BVHModelBase
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 CollisionGeometryclone () 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 inherited from hpp::fcl::BVHModelBase
BVHBuildState build_state
 The state of BVH building process. More...
 
shared_ptr< ConvexBaseconvex
 Convex<Triangle> representation of this object. More...
 
unsigned int num_tris
 Number of triangles. More...
 
unsigned int num_vertices
 Number of points. More...
 
Vec3fprev_vertices
 Geometry point data in previous frame. More...
 
Triangletri_indices
 Geometry triangle index data, will be NULL for point clouds. More...
 
Vec3fvertices
 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 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.


The documentation for this struct was generated from the following file:


hpp-fcl
Author(s):
autogenerated on Fri Jun 2 2023 02:39:03