distance_field: distance_field: pf_distance

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00034 
00037 #ifndef PF_DISTANCE_FIELD_H_
00038 #define PF_DISTANCE_FIELD_H_
00039 
00040 #include <distance_field/distance_field.h>
00041 
00042 namespace distance_field
00043 {
00044 
00051 class PFDistanceField: public DistanceField<float>
00052 {
00053 public:
00054   PFDistanceField(double size_x, double size_y, double size_z, double resolution,
00055       double origin_x, double origin_y, double origin_z);
00056 
00057   virtual ~PFDistanceField();
00058 
00059 
00060   typedef std::vector<float> FloatArray;
00061   typedef std::vector<int>   IntArray;
00062 
00063   virtual void addPointsToField(const std::vector<btVector3> points);
00064   virtual void reset();
00065 
00066   const float DT_INF;
00067 
00068 private:
00069   inline float sqr(float x) { return x*x; }
00070   void dt(const FloatArray& f, size_t nn, FloatArray& ft, IntArray& v, FloatArray& z);
00071   void computeDT();
00072   virtual double getDistance(const float& object) const;
00073 
00074 };
00075 
00077 
00078 inline double PFDistanceField::getDistance(const float& object) const
00079 {
00080   return sqrt(object)*this->resolution_[DIM_X];
00081 }
00082 
00083 }
00084 
00085 #endif /* PF_DISTANCE_FIELD_H_ */
pf_distance_field.h
