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38 #ifndef FCL_BVH_UTILITY_INL_H
39 #define FCL_BVH_UTILITY_INL_H
59 template <
typename S,
typename BV>
63 for(
int i = 0; i < model.
num_bvs; ++i)
75 for(
int k = 0; k < 3; ++k)
77 bv += (v + uc.
axis.col(k) * (
r * uc.
sigma[k]));
78 bv += (v - uc.
axis.col(k) * (
r * uc.
sigma[k]));
94 for(
int i = 0; i < model.getNumBVs(); ++i)
110 for(
int k = 0; k < 3; ++k)
112 const auto index1 = 6 * j + 2 * k;
113 const auto index2 = index1 + 1;
115 vs[index1].noalias() += uc.
axis.col(k) * (
r * uc.
sigma[k]);
117 vs[index2].noalias() -= uc.
axis.col(k) * (
r * uc.
sigma[k]);
131 template <
typename S>
138 for(
int i = 0; i < model.getNumBVs(); ++i)
154 for(
int k = 0; k < 3; ++k)
156 vs[6 * j + 2 * k] = v + uc.
axis.col(k) * (
r * uc.
sigma[k]);
157 vs[6 * j + 2 * k + 1] = v - uc.
axis.col(k) * (
r * uc.
sigma[k]);
template class FCL_EXPORT RSS< double >
const BVNode< BV > & getBV(int id) const
We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some...
Vector3< S > * vertices
Geometry point data.
BV bv
bounding volume storing the geometry
Matrix3< S > axis
Matrix whose columns are eigenvectors of Sigma.
template class FCL_EXPORT Variance3< double >
int num_primitives
The number of primitives belonging to the current node.
Eigen::Matrix< S, 3, 1 > Vector3
Class for variance matrix in 3d.
int num_bvs
Number of BV nodes in bounding volume hierarchy.
template void BVHExpand(BVHModel< OBB< double >> &model, const Variance3< double > *ucs, double r)
A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and...
Vector3< S > sigma
Variations along the eign axes.
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
template class FCL_EXPORT OBB< double >
FCL_EXPORT void fit(const Vector3< typename BV::S > *const ps, int n, BV &bv)
Compute a bounding volume that fits a set of n points.
int first_primitive
The start id the primitive belonging to the current node. The index is referred to the primitive_indi...
fcl
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autogenerated on Tue Dec 5 2023 03:40:48