BVH_model.h

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#ifndef FCL_BVH_MODEL_H
#define FCL_BVH_MODEL_H

#include "fcl/collision_object.h"
#include "fcl/BVH/BVH_internal.h"
#include "fcl/BV/BV_node.h"
#include "fcl/BVH/BV_splitter.h"
#include "fcl/BVH/BV_fitter.h"
#include <vector>
#include <boost/shared_ptr.hpp>

namespace fcl
{

template<typename BV>
class BVHModel : public CollisionGeometry
{

public:
  BVHModelType getModelType() const
  {
    if(num_tris && num_vertices)
      return BVH_MODEL_TRIANGLES;
    else if(num_vertices)
      return BVH_MODEL_POINTCLOUD;
    else
      return BVH_MODEL_UNKNOWN;
  }

  BVHModel() : vertices(NULL),
               tri_indices(NULL),
               prev_vertices(NULL),
               num_tris(0),
               num_vertices(0),
               build_state(BVH_BUILD_STATE_EMPTY),
               bv_splitter(new BVSplitter<BV>(SPLIT_METHOD_MEAN)),
               bv_fitter(new BVFitter<BV>()),
               num_tris_allocated(0),
               num_vertices_allocated(0),
               num_bvs_allocated(0),
               num_vertex_updated(0),
               primitive_indices(NULL),
               bvs(NULL),
               num_bvs(0)
  {
  }

  BVHModel(const BVHModel& other);

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

    delete [] prev_vertices;
    delete [] primitive_indices;
  }

  
  const BVNode<BV>& getBV(int id) const
  {
    return bvs[id];
  }

  BVNode<BV>& getBV(int id)
  {
    return bvs[id];
  }

  int getNumBVs() const
  {
    return num_bvs;
  }

  OBJECT_TYPE getObjectType() const { return OT_BVH; }

  NODE_TYPE getNodeType() const { return BV_UNKNOWN; }

  void computeLocalAABB();

  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;

  void makeParentRelative()
  {
    Vec3f I[3] = {Vec3f(1, 0, 0), Vec3f(0, 1, 0), Vec3f(0, 0, 1)};
    makeParentRelativeRecurse(0, I, Vec3f());
  }

public:
  Vec3f* vertices;

  Triangle* tri_indices;

  Vec3f* prev_vertices;

  int num_tris;

  int num_vertices;

  BVHBuildState build_state;

  boost::shared_ptr<BVSplitterBase<BV> > bv_splitter;

  boost::shared_ptr<BVFitterBase<BV> > bv_fitter;

private:

  int num_tris_allocated;
  int num_vertices_allocated;
  int num_bvs_allocated;
  int num_vertex_updated; 
  unsigned int* primitive_indices;


  BVNode<BV>* bvs;

  int num_bvs;

  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);

  void makeParentRelativeRecurse(int bv_id, Vec3f parent_axis[], const Vec3f& parent_c)
  {
    if(!bvs[bv_id].isLeaf())
    {
      makeParentRelativeRecurse(bvs[bv_id].first_child, parent_axis, bvs[bv_id].getCenter());

      makeParentRelativeRecurse(bvs[bv_id].first_child + 1, parent_axis, bvs[bv_id].getCenter());
    }

    bvs[bv_id].bv = translate(bvs[bv_id].bv, -parent_c);
  }
};


template<>
void BVHModel<OBB>::makeParentRelativeRecurse(int bv_id, Vec3f parent_axis[], const Vec3f& parent_c);

template<>
void BVHModel<RSS>::makeParentRelativeRecurse(int bv_id, Vec3f parent_axis[], const Vec3f& parent_c);

template<>
void BVHModel<OBBRSS>::makeParentRelativeRecurse(int bv_id, Vec3f parent_axis[], const Vec3f& parent_c);


template<>
NODE_TYPE BVHModel<AABB>::getNodeType() const;

template<>
NODE_TYPE BVHModel<OBB>::getNodeType() const;

template<>
NODE_TYPE BVHModel<RSS>::getNodeType() const;

template<>
NODE_TYPE BVHModel<kIOS>::getNodeType() const;

template<>
NODE_TYPE BVHModel<OBBRSS>::getNodeType() const;

template<>
NODE_TYPE BVHModel<KDOP<16> >::getNodeType() const;

template<>
NODE_TYPE BVHModel<KDOP<18> >::getNodeType() const;

template<>
NODE_TYPE BVHModel<KDOP<24> >::getNodeType() const;

}

#endif