#include <BVH_model.h>

Inheritance diagram for boost::serialization::internal::BVHModelBaseAccessor:

Public Types
typedef coal::BVHModelBase	Base

Public Attributes
unsigned int	num_tris_allocated

unsigned int	num_vertices_allocated

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...

Additional Inherited Members
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...

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 ()

Protected Member Functions inherited from coal::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 coal::BVHModelBase
unsigned int	num_tris_allocated

unsigned int	num_vertex_updated

unsigned int	num_vertices_allocated