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 coal::BVHModelBase:

[legend]

Public Member Functions
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...

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< 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
virtual CollisionGeometry *	clone () const =0
	Clone *this into a new CollisionGeometry. More...

	CollisionGeometry ()

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

virtual Matrix3s	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...

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
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 65 of file coal/BVH/BVH_model.h.

Constructor & Destructor Documentation

◆ BVHModelBase() [1/2]

coal::BVHModelBase::BVHModelBase ( )

Constructing an empty BVH.

Definition at line 53 of file BVH_model.cpp.

◆ BVHModelBase() [2/2]

coal::BVHModelBase::BVHModelBase ( const BVHModelBase & other )

copy from another BVH

Definition at line 61 of file BVH_model.cpp.

◆ ~BVHModelBase()

virtual coal::BVHModelBase::~BVHModelBase ( )

inlinevirtual

deconstruction, delete mesh data related.

Definition at line 105 of file coal/BVH/BVH_model.h.

Member Function Documentation

◆ addSubModel() [1/2]

int coal::BVHModelBase::addSubModel ( const std::vector< Vec3s > & ps )

Add a set of points in the new BVH model.

Definition at line 401 of file BVH_model.cpp.

◆ addSubModel() [2/2]

int coal::BVHModelBase::addSubModel	(	const std::vector< Vec3s > &	ps,
		const std::vector< Triangle > &	ts
	)

Add a set of triangles in the new BVH model.

Definition at line 439 of file BVH_model.cpp.

◆ addTriangle()

int coal::BVHModelBase::addTriangle	(	const Vec3s &	p1,
		const Vec3s &	p2,
		const Vec3s &	p3
	)

Add one triangle in the new BVH model.

Definition at line 340 of file BVH_model.cpp.

◆ addTriangles()

int coal::BVHModelBase::addTriangles ( const Matrixx3i & triangles )

Add triangles in the new BVH model.

Definition at line 267 of file BVH_model.cpp.

◆ addVertex()

int coal::BVHModelBase::addVertex ( const Vec3s & p )

Add one point in the new BVH model.

Definition at line 235 of file BVH_model.cpp.

◆ addVertices()

int coal::BVHModelBase::addVertices ( const MatrixX3s & points )

Add points in the new BVH model.

Definition at line 307 of file BVH_model.cpp.

◆ allocateBVs()

virtual bool coal::BVHModelBase::allocateBVs ( )

protectedpure virtual

Implemented in coal::BVHModel< BV >.

◆ beginModel()

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

Begin a new BVH model.

Definition at line 179 of file BVH_model.cpp.

◆ beginReplaceModel()

int coal::BVHModelBase::beginReplaceModel ( )

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

Definition at line 577 of file BVH_model.cpp.

◆ beginUpdateModel()

int coal::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 673 of file BVH_model.cpp.

◆ buildConvexHull()

bool coal::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 154 of file BVH_model.cpp.

◆ buildConvexRepresentation()

void coal::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 128 of file BVH_model.cpp.

◆ buildTree()

virtual int coal::BVHModelBase::buildTree ( )

protectedpure virtual

Build the bounding volume hierarchy.

Implemented in coal::BVHModel< BV >.

◆ computeCOM()

Vec3s coal::BVHModelBase::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented from coal::CollisionGeometry.

Definition at line 201 of file coal/BVH/BVH_model.h.

◆ computeLocalAABB()

void coal::BVHModelBase::computeLocalAABB ( )

virtual

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

Implements coal::CollisionGeometry.

Definition at line 781 of file BVH_model.cpp.

◆ computeMomentofInertia()

Matrix3s coal::BVHModelBase::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

Definition at line 257 of file coal/BVH/BVH_model.h.

◆ computeVolume()

CoalScalar coal::BVHModelBase::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

Definition at line 231 of file coal/BVH/BVH_model.h.

◆ deleteBVs()

virtual void coal::BVHModelBase::deleteBVs ( )

protectedpure virtual

Implemented in coal::BVHModel< BV >.

◆ endModel()

int coal::BVHModelBase::endModel ( )

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

Definition at line 507 of file BVH_model.cpp.

◆ endReplaceModel()

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

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

Definition at line 645 of file BVH_model.cpp.

◆ endUpdateModel()

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

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

Definition at line 749 of file BVH_model.cpp.

◆ getModelType()

BVHModelType coal::BVHModelBase::getModelType ( ) const

inline

Model type described by the instance.

Definition at line 89 of file coal/BVH/BVH_model.h.

◆ getObjectType()

OBJECT_TYPE coal::BVHModelBase::getObjectType ( ) const

inlinevirtual

Get the object type: it is a BVH.

Reimplemented from coal::CollisionGeometry.

Definition at line 108 of file coal/BVH/BVH_model.h.

◆ isEqual()

bool coal::BVHModelBase::isEqual ( const CollisionGeometry & other ) const

protectedvirtual

for ccd vertex update

Comparison operators

Implements coal::CollisionGeometry.

Reimplemented in coal::BVHModel< BV >.

Definition at line 84 of file BVH_model.cpp.

◆ makeParentRelative()

virtual void coal::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 coal::BVHModel< BV >.

◆ memUsage()

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

pure virtual

Implemented in coal::BVHModel< BV >.

◆ refitTree()

virtual int coal::BVHModelBase::refitTree ( bool bottomup )

protectedpure virtual

Refit the bounding volume hierarchy.

Implemented in coal::BVHModel< BV >.

◆ replaceSubModel()

int coal::BVHModelBase::replaceSubModel ( const std::vector< Vec3s > & ps )

Replace a set of points in the old BVH model.

Definition at line 628 of file BVH_model.cpp.

◆ replaceTriangle()

int coal::BVHModelBase::replaceTriangle	(	const Vec3s &	p1,
		const Vec3s &	p2,
		const Vec3s &	p3
	)

Replace one triangle in the old BVH model.

Definition at line 609 of file BVH_model.cpp.

◆ replaceVertex()

int coal::BVHModelBase::replaceVertex ( const Vec3s & p )

Replace one point in the old BVH model.

Definition at line 594 of file BVH_model.cpp.

◆ updateSubModel()

int coal::BVHModelBase::updateSubModel ( const std::vector< Vec3s > & ps )

Update a set of points in the old BVH model.

Definition at line 732 of file BVH_model.cpp.

◆ updateTriangle()

int coal::BVHModelBase::updateTriangle	(	const Vec3s &	p1,
		const Vec3s &	p2,
		const Vec3s &	p3
	)

Update one triangle in the old BVH model.

Definition at line 713 of file BVH_model.cpp.

◆ updateVertex()

int coal::BVHModelBase::updateVertex ( const Vec3s & p )

Update one point in the old BVH model.

Definition at line 698 of file BVH_model.cpp.

Member Data Documentation

◆ build_state

BVHBuildState coal::BVHModelBase::build_state

The state of BVH building process.

Definition at line 83 of file coal/BVH/BVH_model.h.

◆ convex

shared_ptr<ConvexBase> coal::BVHModelBase::convex

Convex<Triangle> representation of this object.

Definition at line 86 of file coal/BVH/BVH_model.h.

◆ num_tris

unsigned int coal::BVHModelBase::num_tris

Number of triangles.

Definition at line 77 of file coal/BVH/BVH_model.h.

◆ num_tris_allocated

unsigned int coal::BVHModelBase::num_tris_allocated

protected

Definition at line 301 of file coal/BVH/BVH_model.h.

◆ num_vertex_updated

unsigned int coal::BVHModelBase::num_vertex_updated

protected

Definition at line 303 of file coal/BVH/BVH_model.h.

◆ num_vertices

unsigned int coal::BVHModelBase::num_vertices

Number of points.

Definition at line 80 of file coal/BVH/BVH_model.h.

◆ num_vertices_allocated

unsigned int coal::BVHModelBase::num_vertices_allocated

protected

Definition at line 302 of file coal/BVH/BVH_model.h.

◆ prev_vertices

std::shared_ptr<std::vector<Vec3s> > coal::BVHModelBase::prev_vertices

Geometry point data in previous frame.

Definition at line 74 of file coal/BVH/BVH_model.h.

◆ tri_indices

std::shared_ptr<std::vector<Triangle> > coal::BVHModelBase::tri_indices

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

Definition at line 71 of file coal/BVH/BVH_model.h.

◆ vertices

std::shared_ptr<std::vector<Vec3s> > coal::BVHModelBase::vertices

Geometry point data.

Definition at line 68 of file coal/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