DualOctree.hpp

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 /*
 * DualOctree.hpp
 *
 *  Created on: 18.01.2019
 *      Author: Benedikt Schumacher
 */
 
#ifndef DualOctree_HPP_
#define DualOctree_HPP_
 
#include <boost/thread.hpp>
#include "OctreeTables.hpp"
 
namespace lvr2
{
 
template<typename BaseVecT, typename BoxT>
class DualLeaf
{
public:
 
    DualLeaf(BaseVecT vertices[]);
 
    virtual ~DualLeaf(){};
 
    int getIndex(float distances[]);
 
    BaseVecT getIntersectionPoint(float intersection, BaseVecT corner_one, BaseVecT corner_two);
    BaseVecT getIntersectionPoint(BaseVecT corner_one, float intersection, BaseVecT corner_two);
    BaseVecT getIntersectionPoint(BaseVecT corner_one, BaseVecT corner_two, float intersection);
 
    void getIntersections(
            BaseVecT corners[],
            float distance[],
            BaseVecT positions[]);
 
    void getVertices(
            BaseVecT corners[]);
 
    uint getIntersection(char i);
 
    BaseVecT& getMiddle();
 
    void setIntersection(char i, uint value);
 
protected:
 
    float calcIntersection(float x1, float x2, float d1, float d2);
 
    // Vertices of the represented voxel.
    BaseVecT m_vertices[8];
 
    // Twelve possible intersections.
    uint m_intersections[12];
};
 
}
 
#include "DualOctree.tcc"
 
#endif /* DualOctree_HPP_ */