$search

BV_fitter.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef COLLISION_CHECKING_BV_FITTER_H
#define COLLISION_CHECKING_BV_FITTER_H

#include "collision_checking/BVH_defs.h"
#include "collision_checking/primitive.h"
#include "collision_checking/vec_3f.h"
#include "collision_checking/obb.h"
#include "collision_checking/rss.h"
#include <iostream>

namespace collision_checking
{

template<typename BV>
class BVFitter
{
public:

  static BV fit(Vec3f* ps, int n)
  {
    BV bv;
    for(int i = 0; i < n; ++i)
    {
      bv += ps[i];
    }

    return bv;
  }

  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_;
  }

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

    if(type == BVH_MODEL_TRIANGLES)             /* The primitive is triangle */
    {
      for(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) /* When fitting both current and previous frame */
        {
          bv += prev_vertices[t[0]];
          bv += prev_vertices[t[1]];
          bv += prev_vertices[t[2]];
        }
      }
    }
    else if(type == BVH_MODEL_POINTCLOUD)       /* The primitive is point */
    {
      for(int i = 0; i < num_primitives; ++i)
      {
        bv += vertices[primitive_indices[i]];

        if(prev_vertices) /* When fitting both current and previous frame */
        {
          bv += prev_vertices[primitive_indices[i]];
        }
      }
    }

    return bv;
  }

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

private:

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


template<>
class BVFitter<OBB>
{
public:

  static OBB fit(Vec3f* ps, int n);

  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_;
  }

  OBB fit(unsigned int* primitive_indices, int num_primitives);

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

private:

  Vec3f* vertices;
  Vec3f* prev_vertices;
  Triangle* tri_indices;
  BVHModelType type;

  static inline OBB fit1(Vec3f* ps);

  static inline OBB fit2(Vec3f* ps);

  static inline OBB fit3(Vec3f* ps);

  static inline OBB fit6(Vec3f* ps);

  static OBB fitn(Vec3f* ps, int n);
};


template<>
class BVFitter<RSS>
{
public:

  static RSS fit(Vec3f* ps, int n);

  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_;
  }

  RSS fit(unsigned int* primitive_indices, int num_primitives);

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

private:

  Vec3f* vertices;
  Vec3f* prev_vertices;
  Triangle* tri_indices;
  BVHModelType type;

  static RSS fit1(Vec3f* ps);

  static RSS fit2(Vec3f* ps);

  static RSS fit3(Vec3f* ps);

  static RSS fitn(Vec3f* ps, int n);

};

}

#endif

---

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