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BVH_model.h

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#ifndef COLLISION_CHECKING_BVH_MODEL_H
#define COLLISION_CHECKING_BVH_MODEL_H


#include "collision_checking/BVH_defs.h"
#include "collision_checking/BV.h"
#include "collision_checking/primitive.h"
#include "collision_checking/vec_3f.h"
#include "collision_checking/BVH_split_rule.h"
#include "collision_checking/BV_fitter.h"
#include <vector>
#include <iostream>
#include <string.h>

namespace collision_checking
{

template<typename BV>
struct BVNode
{
  BV bv;

  int first_child;

  int first_primitive;

  int num_primitives;

  bool isLeaf() { return first_child < 0; }

  int primitiveId() { return -(first_child + 1); }

  int leftChild() { return first_child; }

  int rightChild() { return first_child + 1; }

  bool overlap(const BVNode& other) const
  {
    return bv.overlap(other.bv);
  }

  BVH_REAL distance(const BVNode& other) const
  {
    return bv.distance(other.bv);
  }

};

template<typename BV>
class BVHModel
{
private:
  int num_tris_allocated;
  int num_vertices_allocated;
  int num_bvs_allocated;
  int num_vertex_updated; // for ccd vertex update
  unsigned int* primitive_indices;

public:
  Vec3f* vertices;

  Triangle* tri_indices;

  Vec3f* prev_vertices;

  BVNode<BV>* bvs;

  int num_tris;

  int num_vertices;

  int num_bvs;

  BVHBuildState build_state;

  BVSplitRule<BV> bv_splitter;

  BVFitter<BV> bv_fitter;

  BVHModelType getModelType() const
  {
    if(tri_indices && vertices)
      return BVH_MODEL_TRIANGLES;
    else if(vertices)
      return BVH_MODEL_POINTCLOUD;
    else
      return BVH_MODEL_UNKNOWN;
  }

  BVHModel()
  {
    vertices = NULL;
    tri_indices = NULL;
    bvs = NULL;

    num_tris = 0;
    num_tris_allocated = 0;
    num_vertices = 0;
    num_vertices_allocated = 0;
    num_bvs = 0;
    num_bvs_allocated = 0;

    prev_vertices = NULL;

    primitive_indices = NULL;

    build_state = BVH_BUILD_STATE_EMPTY;
  }


  ~BVHModel()
  {
    delete [] vertices;
    delete [] tri_indices;
    delete [] bvs;

    delete [] prev_vertices;

    delete [] primitive_indices;
  }

  int beginModel(int num_tris = 0, int num_vertices = 0);

  int addVertex(const Vec3f& p);

  int addTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

  int addSubModel(const std::vector<Vec3f>& ps, const std::vector<Triangle>& ts);

  int addSubModel(const std::vector<Vec3f>& ps);

  int endModel();


  int beginReplaceModel();

  int replaceVertex(const Vec3f& p);

  int replaceTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

  int replaceSubModel(const std::vector<Vec3f>& ps);

  int endReplaceModel(bool refit = true, bool bottomup = true);


  int beginUpdateModel();

  int updateVertex(const Vec3f& p);

  int updateTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

  int updateSubModel(const std::vector<Vec3f>& ps);

  int endUpdateModel(bool refit = true, bool bottomup = true);

  int memUsage(int msg) const;

private:

  int buildTree();

  int refitTree(bool bottomup);

  int refitTree_topdown();

  int refitTree_bottomup();

  int recursiveBuildTree(int bv_id, int first_primitive, int num_primitives);

  int recursiveRefitTree_bottomup(int bv_id);

};

}

#endif

---

collision_checking
Author(s): Jia Pan, Dinesh Manocha (UNC, Chapel Hill)
autogenerated on Fri Mar 1 14:56:47 2013