Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
hpp::fcl::BVSplitter< BV > Class Template Reference
Construction of BVHModel

A class describing the split rule that splits each BV node. More...

#include <BVH_model.h>

Inheritance diagram for hpp::fcl::BVSplitter< BV >:
Inheritance graph
[legend]

Public Member Functions

bool apply (const Vec3f &q) const
 Apply the split rule on a given point. More...
 
template<>
bool HPP_FCL_DLLAPI apply (const Vec3f &q) const
 
template<>
bool HPP_FCL_DLLAPI apply (const Vec3f &q) const
 
template<>
bool HPP_FCL_DLLAPI apply (const Vec3f &q) const
 
template<>
bool HPP_FCL_DLLAPI apply (const Vec3f &q) const
 
template<>
bool apply (const Vec3f &q) const
 
template<>
bool apply (const Vec3f &q) const
 
template<>
bool apply (const Vec3f &q) const
 
template<>
bool apply (const Vec3f &q) const
 
 BVSplitter (SplitMethodType method)
 
void clear ()
 Clear the geometry data set before. More...
 
void computeRule (const BV &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 Compute the split rule according to a subset of geometry and the corresponding BV node. More...
 
void set (Vec3f *vertices_, Triangle *tri_indices_, BVHModelType type_)
 Set the geometry data needed by the split rule. More...
 
virtual ~BVSplitter ()
 Default deconstructor. More...
 

Protected Member Functions

void computeRule_bvcenter (const BV &bv, unsigned int *, unsigned int)
 Split algorithm 1: Split the node from center. More...
 
template<>
void computeRule_bvcenter (const OBB &bv, unsigned int *, unsigned int)
 
template<>
void computeRule_bvcenter (const RSS &bv, unsigned int *, unsigned int)
 
template<>
void computeRule_bvcenter (const kIOS &bv, unsigned int *, unsigned int)
 
template<>
void HPP_FCL_DLLAPI computeRule_bvcenter (const OBB &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void computeRule_bvcenter (const OBBRSS &bv, unsigned int *, unsigned int)
 
template<>
void HPP_FCL_DLLAPI computeRule_bvcenter (const RSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void HPP_FCL_DLLAPI computeRule_bvcenter (const kIOS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void HPP_FCL_DLLAPI computeRule_bvcenter (const OBBRSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
void computeRule_mean (const BV &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 Split algorithm 2: Split the node according to the mean of the data contained. More...
 
template<>
void computeRule_mean (const OBB &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void computeRule_mean (const RSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void computeRule_mean (const kIOS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void HPP_FCL_DLLAPI computeRule_mean (const OBB &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void computeRule_mean (const OBBRSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void HPP_FCL_DLLAPI computeRule_mean (const RSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void HPP_FCL_DLLAPI computeRule_mean (const kIOS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void HPP_FCL_DLLAPI computeRule_mean (const OBBRSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void computeRule_median (const OBB &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
void computeRule_median (const BV &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 Split algorithm 3: Split the node according to the median of the data contained. More...
 
template<>
void computeRule_median (const RSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void computeRule_median (const kIOS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void HPP_FCL_DLLAPI computeRule_median (const OBB &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void HPP_FCL_DLLAPI computeRule_median (const RSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void computeRule_median (const OBBRSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void HPP_FCL_DLLAPI computeRule_median (const kIOS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 
template<>
void HPP_FCL_DLLAPI computeRule_median (const OBBRSS &bv, unsigned int *primitive_indices, unsigned int num_primitives)
 

Protected Attributes

int split_axis
 The axis based on which the split decision is made. For most BV, the axis is aligned with one of the world coordinate, so only split_axis is needed. For oriented node, we can use a vector to make a better split decision. More...
 
SplitMethodType split_method
 The split algorithm used. More...
 
FCL_REAL split_value
 The split threshold, different primitives are splitted according whether their projection on the split_axis is larger or smaller than the threshold. More...
 
Vec3f split_vector
 
Triangle * tri_indices
 The triangles handled by the splitter. More...
 
BVHModelType type
 Whether the geometry is mesh or point cloud. More...
 
Vec3f * vertices
 The mesh vertices or points handled by the splitter. More...
 

Detailed Description

template<typename BV>
class hpp::fcl::BVSplitter< BV >

A class describing the split rule that splits each BV node.

Definition at line 59 of file BVH/BVH_model.h.

Constructor & Destructor Documentation

◆ BVSplitter()

template<typename BV>
hpp::fcl::BVSplitter< BV >::BVSplitter ( SplitMethodType  method)
inline

Definition at line 61 of file internal/BV_splitter.h.

◆ ~BVSplitter()

template<typename BV>
virtual hpp::fcl::BVSplitter< BV >::~BVSplitter ( )
inlinevirtual

Default deconstructor.

Definition at line 65 of file internal/BV_splitter.h.

Member Function Documentation

◆ apply() [1/9]

template<typename BV>
bool hpp::fcl::BVSplitter< BV >::apply ( const Vec3f &  q) const
inline

Apply the split rule on a given point.

Definition at line 94 of file internal/BV_splitter.h.

◆ apply() [2/9]

template<>
bool HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBB >::apply ( const Vec3f &  q) const

◆ apply() [3/9]

template<>
bool HPP_FCL_DLLAPI hpp::fcl::BVSplitter< RSS >::apply ( const Vec3f &  q) const

◆ apply() [4/9]

template<>
bool HPP_FCL_DLLAPI hpp::fcl::BVSplitter< kIOS >::apply ( const Vec3f &  q) const

◆ apply() [5/9]

template<>
bool HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBBRSS >::apply ( const Vec3f &  q) const

◆ apply() [6/9]

template<>
bool hpp::fcl::BVSplitter< OBB >::apply ( const Vec3f &  q) const

Definition at line 262 of file BV_splitter.cpp.

◆ apply() [7/9]

template<>
bool hpp::fcl::BVSplitter< RSS >::apply ( const Vec3f &  q) const

Definition at line 267 of file BV_splitter.cpp.

◆ apply() [8/9]

template<>
bool hpp::fcl::BVSplitter< kIOS >::apply ( const Vec3f &  q) const

Definition at line 272 of file BV_splitter.cpp.

◆ apply() [9/9]

template<>
bool hpp::fcl::BVSplitter< OBBRSS >::apply ( const Vec3f &  q) const

Definition at line 277 of file BV_splitter.cpp.

◆ clear()

template<typename BV>
void hpp::fcl::BVSplitter< BV >::clear ( )
inline

Clear the geometry data set before.

Definition at line 97 of file internal/BV_splitter.h.

◆ computeRule()

template<typename BV>
void hpp::fcl::BVSplitter< BV >::computeRule ( const BV &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
inline

Compute the split rule according to a subset of geometry and the corresponding BV node.

Definition at line 76 of file internal/BV_splitter.h.

◆ computeRule_bvcenter() [1/9]

template<typename BV>
void hpp::fcl::BVSplitter< BV >::computeRule_bvcenter ( const BV &  bv,
unsigned int *  ,
unsigned  int 
)
inlineprotected

Split algorithm 1: Split the node from center.

Definition at line 129 of file internal/BV_splitter.h.

◆ computeRule_bvcenter() [2/9]

template<>
void hpp::fcl::BVSplitter< OBB >::computeRule_bvcenter ( const OBB &  bv,
unsigned int *  ,
unsigned  int 
)
protected

Definition at line 157 of file BV_splitter.cpp.

◆ computeRule_bvcenter() [3/9]

template<>
void hpp::fcl::BVSplitter< RSS >::computeRule_bvcenter ( const RSS &  bv,
unsigned int *  ,
unsigned  int 
)
protected

Definition at line 183 of file BV_splitter.cpp.

◆ computeRule_bvcenter() [4/9]

template<>
void hpp::fcl::BVSplitter< kIOS >::computeRule_bvcenter ( const kIOS &  bv,
unsigned int *  ,
unsigned  int 
)
protected

Definition at line 209 of file BV_splitter.cpp.

◆ computeRule_bvcenter() [5/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBB >::computeRule_bvcenter ( const OBB &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_bvcenter() [6/9]

template<>
void hpp::fcl::BVSplitter< OBBRSS >::computeRule_bvcenter ( const OBBRSS &  bv,
unsigned int *  ,
unsigned  int 
)
protected

Definition at line 235 of file BV_splitter.cpp.

◆ computeRule_bvcenter() [7/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< RSS >::computeRule_bvcenter ( const RSS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_bvcenter() [8/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< kIOS >::computeRule_bvcenter ( const kIOS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_bvcenter() [9/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBBRSS >::computeRule_bvcenter ( const OBBRSS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_mean() [1/9]

template<typename BV>
void hpp::fcl::BVSplitter< BV >::computeRule_mean ( const BV &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
inlineprotected

Split algorithm 2: Split the node according to the mean of the data contained.

Definition at line 144 of file internal/BV_splitter.h.

◆ computeRule_mean() [2/9]

template<>
void hpp::fcl::BVSplitter< OBB >::computeRule_mean ( const OBB &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

Definition at line 164 of file BV_splitter.cpp.

◆ computeRule_mean() [3/9]

template<>
void hpp::fcl::BVSplitter< RSS >::computeRule_mean ( const RSS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

Definition at line 190 of file BV_splitter.cpp.

◆ computeRule_mean() [4/9]

template<>
void hpp::fcl::BVSplitter< kIOS >::computeRule_mean ( const kIOS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

Definition at line 216 of file BV_splitter.cpp.

◆ computeRule_mean() [5/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBB >::computeRule_mean ( const OBB &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_mean() [6/9]

template<>
void hpp::fcl::BVSplitter< OBBRSS >::computeRule_mean ( const OBBRSS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

Definition at line 242 of file BV_splitter.cpp.

◆ computeRule_mean() [7/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< RSS >::computeRule_mean ( const RSS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_mean() [8/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< kIOS >::computeRule_mean ( const kIOS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_mean() [9/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBBRSS >::computeRule_mean ( const OBBRSS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_median() [1/9]

template<>
void hpp::fcl::BVSplitter< OBB >::computeRule_median ( const OBB &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

Definition at line 173 of file BV_splitter.cpp.

◆ computeRule_median() [2/9]

template<typename BV>
void hpp::fcl::BVSplitter< BV >::computeRule_median ( const BV &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
inlineprotected

Split algorithm 3: Split the node according to the median of the data contained.

Definition at line 175 of file internal/BV_splitter.h.

◆ computeRule_median() [3/9]

template<>
void hpp::fcl::BVSplitter< RSS >::computeRule_median ( const RSS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

Definition at line 199 of file BV_splitter.cpp.

◆ computeRule_median() [4/9]

template<>
void hpp::fcl::BVSplitter< kIOS >::computeRule_median ( const kIOS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

Definition at line 225 of file BV_splitter.cpp.

◆ computeRule_median() [5/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBB >::computeRule_median ( const OBB &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_median() [6/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< RSS >::computeRule_median ( const RSS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_median() [7/9]

template<>
void hpp::fcl::BVSplitter< OBBRSS >::computeRule_median ( const OBBRSS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

Definition at line 252 of file BV_splitter.cpp.

◆ computeRule_median() [8/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< kIOS >::computeRule_median ( const kIOS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ computeRule_median() [9/9]

template<>
void HPP_FCL_DLLAPI hpp::fcl::BVSplitter< OBBRSS >::computeRule_median ( const OBBRSS &  bv,
unsigned int *  primitive_indices,
unsigned int  num_primitives 
)
protected

◆ set()

template<typename BV>
void hpp::fcl::BVSplitter< BV >::set ( Vec3f *  vertices_,
Triangle *  tri_indices_,
BVHModelType  type_ 
)
inline

Set the geometry data needed by the split rule.

Definition at line 68 of file internal/BV_splitter.h.

Member Data Documentation

◆ split_axis

template<typename BV>
int hpp::fcl::BVSplitter< BV >::split_axis
protected

The axis based on which the split decision is made. For most BV, the axis is aligned with one of the world coordinate, so only split_axis is needed. For oriented node, we can use a vector to make a better split decision.

Definition at line 108 of file internal/BV_splitter.h.

◆ split_method

template<typename BV>
SplitMethodType hpp::fcl::BVSplitter< BV >::split_method
protected

The split algorithm used.

Definition at line 126 of file internal/BV_splitter.h.

◆ split_value

template<typename BV>
FCL_REAL hpp::fcl::BVSplitter< BV >::split_value
protected

The split threshold, different primitives are splitted according whether their projection on the split_axis is larger or smaller than the threshold.

Definition at line 114 of file internal/BV_splitter.h.

◆ split_vector

template<typename BV>
Vec3f hpp::fcl::BVSplitter< BV >::split_vector
protected

Definition at line 109 of file internal/BV_splitter.h.

◆ tri_indices

template<typename BV>
Triangle* hpp::fcl::BVSplitter< BV >::tri_indices
protected

The triangles handled by the splitter.

Definition at line 120 of file internal/BV_splitter.h.

◆ type

template<typename BV>
BVHModelType hpp::fcl::BVSplitter< BV >::type
protected

Whether the geometry is mesh or point cloud.

Definition at line 123 of file internal/BV_splitter.h.

◆ vertices

template<typename BV>
Vec3f* hpp::fcl::BVSplitter< BV >::vertices
protected

The mesh vertices or points handled by the splitter.

Definition at line 117 of file internal/BV_splitter.h.

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

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