A 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 coal::BVHModel< BV >:

[legend]

Public Types
using	bv_node_vector_t = std::vector< BVNode< BV >, Eigen::aligned_allocator< BVNode< BV > >>

Public Member Functions
	BVHModel ()
	Default constructor to build an empty BVH. More...

	BVHModel (const BVHModel &other)
	Copy constructor from another BVH. More...

virtual BVHModel< BV > *	clone () const
	Clone *this into a new BVHModel. More...

BVNode< BV > &	getBV (unsigned int i)
	Access the bv giving the its index. More...

const BVNode< BV > &	getBV (unsigned int i) const
	We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here. More...

NODE_TYPE	getNodeType () const
	Get the BV type: default is unknown. More...

NODE_TYPE	getNodeType () const
	Specialization of getNodeType() for BVHModel with different BV types. More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

NODE_TYPE	getNodeType () const
	get the node type More...

unsigned int	getNumBVs () const
	Get the number of bv in the BVH. More...

void	makeParentRelative ()
	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...

int	memUsage (const bool msg) const
	Check the number of memory used. More...

	~BVHModel ()
	deconstruction, delete mesh data related. More...

Public Member Functions inherited from coal::BVHModelBase
int	addSubModel (const std::vector< Vec3s > &ps)
	Add a set of points in the new BVH model. More...

int	addSubModel (const std::vector< Vec3s > &ps, const std::vector< Triangle > &ts)
	Add a set of triangles in the new BVH model. More...

int	addTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &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 Vec3s &p)
	Add one point in the new BVH model. More...

int	addVertices (const MatrixX3s &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...

Vec3s	computeCOM () const
	compute center of mass More...

void	computeLocalAABB ()
	Compute the AABB for the BVH, used for broad-phase collision. More...

Matrix3s	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

CoalScalar	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...

int	replaceSubModel (const std::vector< Vec3s > &ps)
	Replace a set of points in the old BVH model. More...

int	replaceTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &p3)
	Replace one triangle in the old BVH model. More...

int	replaceVertex (const Vec3s &p)
	Replace one point in the old BVH model. More...

int	updateSubModel (const std::vector< Vec3s > &ps)
	Update a set of points in the old BVH model. More...

int	updateTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &p3)
	Update one triangle in the old BVH model. More...

int	updateVertex (const Vec3s &p)
	Update one point in the old BVH model. More...

virtual	~BVHModelBase ()
	deconstruction, delete mesh data related. More...

Public Member Functions inherited from coal::CollisionGeometry
	CollisionGeometry ()

	CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor. More...

virtual Matrix3s	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com 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
shared_ptr< BVFitter< BV > >	bv_fitter
	Fitting rule to fit a BV node to a set of geometry primitives. More...

shared_ptr< BVSplitter< BV > >	bv_splitter
	Split rule to split one BV node into two children. More...

Public Attributes inherited from coal::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...

std::shared_ptr< std::vector< Vec3s > >	prev_vertices
	Geometry point data in previous frame. More...

std::shared_ptr< std::vector< Triangle > >	tri_indices
	Geometry triangle index data, will be NULL for point clouds. More...

std::shared_ptr< std::vector< Vec3s > >	vertices
	Geometry point data. More...

Public Attributes inherited from coal::CollisionGeometry
Vec3s	aabb_center
	AABB center in local coordinate. More...

AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform. More...

CoalScalar	aabb_radius
	AABB radius. More...

CoalScalar	cost_density
	collision cost for unit volume More...

CoalScalar	threshold_free
	threshold for free (<= is free) More...

CoalScalar	threshold_occupied
	threshold for occupied ( >= is occupied) More...

void *	user_data
	pointer to user defined data specific to this object More...

Protected Member Functions
bool	allocateBVs ()

int	buildTree ()
	Build the bounding volume hierarchy. More...

void	deleteBVs ()

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

int	recursiveBuildTree (int bv_id, unsigned int first_primitive, unsigned int num_primitives)
	Recursive kernel for hierarchy construction. More...

int	recursiveRefitTree_bottomup (int bv_id)
	Recursive kernel for bottomup refitting. More...

int	refitTree (bool bottomup)
	Refit the bounding volume hierarchy. More...

int	refitTree_bottomup ()
	Refit the bounding volume hierarchy in a bottom-up way (fast but less compact) More...

int	refitTree_topdown ()
	Refit the bounding volume hierarchy in a top-down way (slow but more compact) More...

Protected Attributes
std::shared_ptr< bv_node_vector_t >	bvs
	Bounding volume hierarchy. More...

unsigned int	num_bvs
	Number of BV nodes in bounding volume hierarchy. More...

unsigned int	num_bvs_allocated

std::shared_ptr< std::vector< unsigned int > >	primitive_indices

Protected Attributes inherited from coal::BVHModelBase
unsigned int	num_tris_allocated

unsigned int	num_vertex_updated

unsigned int	num_vertices_allocated

Private Types
typedef BVHModelBase	Base

Private Member Functions
virtual bool	isEqual (const CollisionGeometry &_other) const
	for ccd vertex update More...

Detailed Description

template<typename BV>
class coal::BVHModel< BV >

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

Template Parameters

BV	one of the bounding volume class in Bounding volumes.

Definition at line 314 of file coal/BVH/BVH_model.h.

Member Typedef Documentation

◆ Base

template<typename BV >

typedef BVHModelBase coal::BVHModel< BV >::Base

private

Definition at line 315 of file coal/BVH/BVH_model.h.

◆ bv_node_vector_t

template<typename BV >

using coal::BVHModel< BV >::bv_node_vector_t = std::vector<BVNode<BV>, Eigen::aligned_allocator<BVNode<BV> >>

Definition at line 319 of file coal/BVH/BVH_model.h.

Constructor & Destructor Documentation

◆ BVHModel() [1/2]

template<typename BV >

coal::BVHModel< BV >::BVHModel

Default constructor to build an empty BVH.

Constructing an empty BVH.

Definition at line 803 of file BVH_model.cpp.

◆ BVHModel() [2/2]

template<typename BV >

coal::BVHModel< BV >::BVHModel ( const BVHModel< BV > & other )

Copy constructor from another BVH.

Parameters

[in] other BVHModel to copy.

Definition at line 162 of file BVH_model.cpp.

◆ ~BVHModel()

template<typename BV >

coal::BVHModel< BV >::~BVHModel ( )

inline

deconstruction, delete mesh data related.

Definition at line 340 of file coal/BVH/BVH_model.h.

Member Function Documentation

◆ allocateBVs()

template<typename BV >

bool coal::BVHModel< BV >::allocateBVs

protectedvirtual

Implements coal::BVHModelBase.

Definition at line 818 of file BVH_model.cpp.

◆ buildTree()

template<typename BV >

int coal::BVHModel< BV >::buildTree

protectedvirtual

Build the bounding volume hierarchy.

Implements coal::BVHModelBase.

Definition at line 858 of file BVH_model.cpp.

◆ clone()

template<typename BV >

virtual BVHModel<BV>* coal::BVHModel< BV >::clone ( ) const

inlinevirtual

Clone *this into a new BVHModel.

Implements coal::CollisionGeometry.

Definition at line 337 of file coal/BVH/BVH_model.h.

◆ deleteBVs()

template<typename BV >

void coal::BVHModel< BV >::deleteBVs

protectedvirtual

Implements coal::BVHModelBase.

Definition at line 811 of file BVH_model.cpp.

◆ getBV() [1/2]

template<typename BV >

BVNode<BV>& coal::BVHModel< BV >::getBV ( unsigned int i )

inline

Access the bv giving the its index.

Definition at line 352 of file coal/BVH/BVH_model.h.

◆ getBV() [2/2]

template<typename BV >

const BVNode<BV>& coal::BVHModel< BV >::getBV ( unsigned int i ) const

inline

We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here.

Access the bv giving the its index

Definition at line 346 of file coal/BVH/BVH_model.h.

◆ getNodeType() [1/17]

template<typename BV >

NODE_TYPE coal::BVHModel< BV >::getNodeType ( ) const

inlinevirtual

Get the BV type: default is unknown.

Reimplemented from coal::CollisionGeometry.

Definition at line 361 of file coal/BVH/BVH_model.h.

◆ getNodeType() [2/17]

NODE_TYPE coal::BVHModel< AABB >::getNodeType ( ) const

virtual

Specialization of getNodeType() for BVHModel with different BV types.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [3/17]

NODE_TYPE coal::BVHModel< OBB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [4/17]

NODE_TYPE coal::BVHModel< RSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [5/17]

NODE_TYPE coal::BVHModel< kIOS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [6/17]

NODE_TYPE coal::BVHModel< OBBRSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [7/17]

NODE_TYPE coal::BVHModel< KDOP< 16 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [8/17]

NODE_TYPE coal::BVHModel< KDOP< 18 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [9/17]

NODE_TYPE coal::BVHModel< KDOP< 24 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [10/17]

NODE_TYPE coal::BVHModel< AABB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 1131 of file BVH_model.cpp.

◆ getNodeType() [11/17]

NODE_TYPE coal::BVHModel< OBB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 1136 of file BVH_model.cpp.

◆ getNodeType() [12/17]

NODE_TYPE coal::BVHModel< RSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 1141 of file BVH_model.cpp.

◆ getNodeType() [13/17]

NODE_TYPE coal::BVHModel< kIOS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 1146 of file BVH_model.cpp.

◆ getNodeType() [14/17]

NODE_TYPE coal::BVHModel< OBBRSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 1151 of file BVH_model.cpp.

◆ getNodeType() [15/17]

NODE_TYPE coal::BVHModel< KDOP< 16 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 1156 of file BVH_model.cpp.

◆ getNodeType() [16/17]

NODE_TYPE coal::BVHModel< KDOP< 18 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 1161 of file BVH_model.cpp.

◆ getNodeType() [17/17]

NODE_TYPE coal::BVHModel< KDOP< 24 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

Definition at line 1166 of file BVH_model.cpp.

◆ getNumBVs()

template<typename BV >

unsigned int coal::BVHModel< BV >::getNumBVs ( ) const

inline

Get the number of bv in the BVH.

Definition at line 358 of file coal/BVH/BVH_model.h.

◆ isEqual()

template<typename BV >

virtual bool coal::BVHModel< BV >::isEqual ( const CollisionGeometry & other ) const

inlineprivatevirtual

for ccd vertex update

Comparison operators

Reimplemented from coal::BVHModelBase.

Definition at line 430 of file coal/BVH/BVH_model.h.

◆ makeParentRelative()

template<typename BV >

void coal::BVHModel< BV >::makeParentRelative ( )

inlinevirtual

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.

Implements coal::BVHModelBase.

Definition at line 370 of file coal/BVH/BVH_model.h.

◆ makeParentRelativeRecurse() [1/7]

template<typename BV >

void coal::BVHModel< BV >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

inlineprotected

@ recursively compute each bv's transform related to its parent. For default BV, only the translation works. For oriented BV (OBB, RSS, OBBRSS), special implementation is provided.

Definition at line 412 of file coal/BVH/BVH_model.h.

◆ makeParentRelativeRecurse() [2/7]

void coal::BVHModel< OBB >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

protected

◆ makeParentRelativeRecurse() [3/7]

void coal::BVHModel< RSS >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

protected

◆ makeParentRelativeRecurse() [4/7]

void coal::BVHModel< OBBRSS >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

protected

◆ makeParentRelativeRecurse() [5/7]

void coal::BVHModel< OBB >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

protected

Definition at line 1065 of file BVH_model.cpp.

◆ makeParentRelativeRecurse() [6/7]

void coal::BVHModel< RSS >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

protected

Definition at line 1086 of file BVH_model.cpp.

◆ makeParentRelativeRecurse() [7/7]

void coal::BVHModel< OBBRSS >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

protected

Definition at line 1107 of file BVH_model.cpp.

◆ memUsage()

template<typename BV >

int coal::BVHModel< BV >::memUsage ( const bool msg ) const

virtual

Check the number of memory used.

Implements coal::BVHModelBase.

Definition at line 840 of file BVH_model.cpp.

◆ recursiveBuildTree()

template<typename BV >

int coal::BVHModel< BV >::recursiveBuildTree	(	int	bv_id,
		unsigned int	first_primitive,
		unsigned int	num_primitives
	)

protected

Recursive kernel for hierarchy construction.

Definition at line 892 of file BVH_model.cpp.

◆ recursiveRefitTree_bottomup()

template<typename BV >

int coal::BVHModel< BV >::recursiveRefitTree_bottomup ( int bv_id )

protected

Recursive kernel for bottomup refitting.

Definition at line 983 of file BVH_model.cpp.

◆ refitTree()

template<typename BV >

int coal::BVHModel< BV >::refitTree ( bool bottomup )

protectedvirtual

Refit the bounding volume hierarchy.

Implements coal::BVHModelBase.

Definition at line 962 of file BVH_model.cpp.

◆ refitTree_bottomup()

template<typename BV >

int coal::BVHModel< BV >::refitTree_bottomup

protected

Refit the bounding volume hierarchy in a bottom-up way (fast but less compact)

Definition at line 970 of file BVH_model.cpp.

◆ refitTree_topdown()

template<typename BV >

int coal::BVHModel< BV >::refitTree_topdown

protected

Refit the bounding volume hierarchy in a top-down way (slow but more compact)

Definition at line 1046 of file BVH_model.cpp.

Member Data Documentation

◆ bv_fitter

template<typename BV >

shared_ptr<BVFitter<BV> > coal::BVHModel< BV >::bv_fitter

Fitting rule to fit a BV node to a set of geometry primitives.

Definition at line 325 of file coal/BVH/BVH_model.h.

◆ bv_splitter

template<typename BV >

shared_ptr<BVSplitter<BV> > coal::BVHModel< BV >::bv_splitter

Split rule to split one BV node into two children.

Definition at line 322 of file coal/BVH/BVH_model.h.

◆ bvs

template<typename BV >

std::shared_ptr<bv_node_vector_t> coal::BVHModel< BV >::bvs

protected

Bounding volume hierarchy.

Definition at line 383 of file coal/BVH/BVH_model.h.

◆ num_bvs

template<typename BV >

unsigned int coal::BVHModel< BV >::num_bvs

protected

Number of BV nodes in bounding volume hierarchy.

Definition at line 386 of file coal/BVH/BVH_model.h.

◆ num_bvs_allocated

template<typename BV >

unsigned int coal::BVHModel< BV >::num_bvs_allocated

protected

Definition at line 379 of file coal/BVH/BVH_model.h.

◆ primitive_indices

template<typename BV >

std::shared_ptr<std::vector<unsigned int> > coal::BVHModel< BV >::primitive_indices

protected

Definition at line 380 of file coal/BVH/BVH_model.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Detailed Description

template<typename BV> class coal::BVHModel< BV >

Member Typedef Documentation

◆ Base

◆ bv_node_vector_t

Constructor & Destructor Documentation

◆ BVHModel() [1/2]

◆ BVHModel() [2/2]

◆ ~BVHModel()

Member Function Documentation

◆ allocateBVs()

◆ buildTree()

◆ clone()

◆ deleteBVs()

◆ getBV() [1/2]

◆ getBV() [2/2]

◆ getNodeType() [1/17]

◆ getNodeType() [2/17]

◆ getNodeType() [3/17]

◆ getNodeType() [4/17]

◆ getNodeType() [5/17]

◆ getNodeType() [6/17]

◆ getNodeType() [7/17]

◆ getNodeType() [8/17]

◆ getNodeType() [9/17]

◆ getNodeType() [10/17]

◆ getNodeType() [11/17]

◆ getNodeType() [12/17]

◆ getNodeType() [13/17]

◆ getNodeType() [14/17]

◆ getNodeType() [15/17]

◆ getNodeType() [16/17]

◆ getNodeType() [17/17]

◆ getNumBVs()

◆ isEqual()

◆ makeParentRelative()

◆ makeParentRelativeRecurse() [1/7]

◆ makeParentRelativeRecurse() [2/7]

◆ makeParentRelativeRecurse() [3/7]

◆ makeParentRelativeRecurse() [4/7]

◆ makeParentRelativeRecurse() [5/7]

◆ makeParentRelativeRecurse() [6/7]

◆ makeParentRelativeRecurse() [7/7]

◆ memUsage()

◆ recursiveBuildTree()

◆ recursiveRefitTree_bottomup()

◆ refitTree()

◆ refitTree_bottomup()

◆ refitTree_topdown()

Member Data Documentation

◆ bv_fitter

◆ bv_splitter

◆ bvs

◆ num_bvs

◆ num_bvs_allocated

◆ primitive_indices

template<typename BV>
class coal::BVHModel< BV >