BV_fitter.h

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#ifndef HPP_FCL_BV_FITTER_H
#define HPP_FCL_BV_FITTER_H

#include <hpp/fcl/BVH/BVH_internal.h>
#include <hpp/fcl/BV/kIOS.h>
#include <hpp/fcl/BV/OBBRSS.h>
#include <hpp/fcl/BV/AABB.h>
#include <iostream>

namespace hpp {
namespace fcl {

template <typename BV>
void fit(Vec3f* ps, unsigned int n, BV& bv) {
  for (unsigned int i = 0; i < n; ++i)  // TODO(jcarpent): vectorize
  {
    bv += ps[i];
  }
}

template <>
void fit<OBB>(Vec3f* ps, unsigned int n, OBB& bv);

template <>
void fit<RSS>(Vec3f* ps, unsigned int n, RSS& bv);

template <>
void fit<kIOS>(Vec3f* ps, unsigned int n, kIOS& bv);

template <>
void fit<OBBRSS>(Vec3f* ps, unsigned int n, OBBRSS& bv);

template <>
void fit<AABB>(Vec3f* ps, unsigned int n, AABB& bv);

template <typename BV>
class HPP_FCL_DLLAPI BVFitterTpl {
 public:
  virtual ~BVFitterTpl() {}

  void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_) {
    vertices = vertices_;
    prev_vertices = NULL;
    tri_indices = tri_indices_;
    type = type_;
  }

  void set(Vec3f* vertices_, Vec3f* prev_vertices_, Triangle* tri_indices_,
           BVHModelType type_) {
    vertices = vertices_;
    prev_vertices = prev_vertices_;
    tri_indices = tri_indices_;
    type = type_;
  }

  virtual BV fit(unsigned int* primitive_indices,
                 unsigned int num_primitives) = 0;

  void clear() {
    vertices = NULL;
    prev_vertices = NULL;
    tri_indices = NULL;
    type = BVH_MODEL_UNKNOWN;
  }

 protected:
  Vec3f* vertices;
  Vec3f* prev_vertices;
  Triangle* tri_indices;
  BVHModelType type;
};

template <typename BV>
class HPP_FCL_DLLAPI BVFitter : public BVFitterTpl<BV> {
  typedef BVFitterTpl<BV> Base;

 public:
  BV fit(unsigned int* primitive_indices, unsigned int num_primitives) {
    BV bv;

    if (type == BVH_MODEL_TRIANGLES)  
    {
      for (unsigned int i = 0; i < num_primitives; ++i) {
        Triangle t = tri_indices[primitive_indices[i]];
        bv += vertices[t[0]];
        bv += vertices[t[1]];
        bv += vertices[t[2]];

        if (prev_vertices)  
        {
          bv += prev_vertices[t[0]];
          bv += prev_vertices[t[1]];
          bv += prev_vertices[t[2]];
        }
      }
    } else if (type == BVH_MODEL_POINTCLOUD)  
    {
      for (unsigned int i = 0; i < num_primitives; ++i) {
        bv += vertices[primitive_indices[i]];

        if (prev_vertices)  
        {
          bv += prev_vertices[primitive_indices[i]];
        }
      }
    }

    return bv;
  }

 protected:
  using Base::prev_vertices;
  using Base::tri_indices;
  using Base::type;
  using Base::vertices;
};

template <>
class HPP_FCL_DLLAPI BVFitter<OBB> : public BVFitterTpl<OBB> {
 public:
  OBB fit(unsigned int* primitive_indices, unsigned int num_primitives);
};

template <>
class HPP_FCL_DLLAPI BVFitter<RSS> : public BVFitterTpl<RSS> {
 public:
  RSS fit(unsigned int* primitive_indices, unsigned int num_primitives);
};

template <>
class HPP_FCL_DLLAPI BVFitter<kIOS> : public BVFitterTpl<kIOS> {
 public:
  kIOS fit(unsigned int* primitive_indices, unsigned int num_primitives);
};

template <>
class HPP_FCL_DLLAPI BVFitter<OBBRSS> : public BVFitterTpl<OBBRSS> {
 public:
  OBBRSS fit(unsigned int* primitive_indices, unsigned int num_primitives);
};

template <>
class HPP_FCL_DLLAPI BVFitter<AABB> : public BVFitterTpl<AABB> {
 public:
  AABB fit(unsigned int* primitive_indices, unsigned int num_primitives);
};

}  // namespace fcl

}  // namespace hpp

#endif