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File: | include/coal/BV/BV_node.h |
Date: | 2025-04-01 09:23:31 |
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1 | /* | ||
2 | * Software License Agreement (BSD License) | ||
3 | * | ||
4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
6 | * All rights reserved. | ||
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8 | * Redistribution and use in source and binary forms, with or without | ||
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15 | * copyright notice, this list of conditions and the following | ||
16 | * disclaimer in the documentation and/or other materials provided | ||
17 | * with the distribution. | ||
18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
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20 | * from this software without specific prior written permission. | ||
21 | * | ||
22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
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32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
33 | * POSSIBILITY OF SUCH DAMAGE. | ||
34 | */ | ||
35 | |||
36 | /** \author Jia Pan */ | ||
37 | |||
38 | #ifndef COAL_BV_NODE_H | ||
39 | #define COAL_BV_NODE_H | ||
40 | |||
41 | #include "coal/data_types.h" | ||
42 | #include "coal/BV/BV.h" | ||
43 | |||
44 | namespace coal { | ||
45 | |||
46 | /// @defgroup Construction_Of_BVH Construction of BVHModel | ||
47 | /// Classes which are used to build a BVHModel (Bounding Volume Hierarchy) | ||
48 | /// @{ | ||
49 | |||
50 | /// @brief BVNodeBase encodes the tree structure for BVH | ||
51 | struct COAL_DLLAPI BVNodeBase { | ||
52 | /// @brief An index for first child node or primitive | ||
53 | /// If the value is positive, it is the index of the first child bv node | ||
54 | /// If the value is negative, it is -(primitive index + 1) | ||
55 | /// Zero is not used. | ||
56 | int first_child; | ||
57 | |||
58 | /// @brief The start id the primitive belonging to the current node. The index | ||
59 | /// is referred to the primitive_indices in BVHModel and from that we can | ||
60 | /// obtain the primitive's index in original data indirectly. | ||
61 | unsigned int first_primitive; | ||
62 | |||
63 | /// @brief The number of primitives belonging to the current node | ||
64 | unsigned int num_primitives; | ||
65 | |||
66 | /// @brief Default constructor | ||
67 | 1968229 | BVNodeBase() | |
68 | 1968229 | : first_child(0), | |
69 | 1968229 | first_primitive( | |
70 | 1968229 | (std::numeric_limits<unsigned int>::max)()) // value we should help | |
71 | // to raise an issue | ||
72 | , | ||
73 | 1968229 | num_primitives(0) {} | |
74 | |||
75 | /// @brief Equality operator | ||
76 | 83252 | bool operator==(const BVNodeBase& other) const { | |
77 | 166504 | return first_child == other.first_child && | |
78 |
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166504 | first_primitive == other.first_primitive && |
79 |
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166504 | num_primitives == other.num_primitives; |
80 | } | ||
81 | |||
82 | /// @brief Difference operator | ||
83 | bool operator!=(const BVNodeBase& other) const { return !(*this == other); } | ||
84 | |||
85 | /// @brief Whether current node is a leaf node (i.e. contains a primitive | ||
86 | /// index | ||
87 | 162578564 | inline bool isLeaf() const { return first_child < 0; } | |
88 | |||
89 | /// @brief Return the primitive index. The index is referred to the original | ||
90 | /// data (i.e. vertices or tri_indices) in BVHModel | ||
91 | 59028107 | inline int primitiveId() const { return -(first_child + 1); } | |
92 | |||
93 | /// @brief Return the index of the first child. The index is referred to the | ||
94 | /// bounding volume array (i.e. bvs) in BVHModel | ||
95 | 22826272 | inline int leftChild() const { return first_child; } | |
96 | |||
97 | /// @brief Return the index of the second child. The index is referred to the | ||
98 | /// bounding volume array (i.e. bvs) in BVHModel | ||
99 | 22826023 | inline int rightChild() const { return first_child + 1; } | |
100 | }; | ||
101 | |||
102 | /// @brief A class describing a bounding volume node. It includes the tree | ||
103 | /// structure providing in BVNodeBase and also the geometry data provided in BV | ||
104 | /// template parameter. | ||
105 | template <typename BV> | ||
106 | struct COAL_DLLAPI BVNode : public BVNodeBase { | ||
107 | typedef BVNodeBase Base; | ||
108 | |||
109 | /// @brief bounding volume storing the geometry | ||
110 | BV bv; | ||
111 | |||
112 | /// @brief Equality operator | ||
113 | 83252 | bool operator==(const BVNode& other) const { | |
114 |
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83252 | return Base::operator==(other) && bv == other.bv; |
115 | } | ||
116 | |||
117 | /// @brief Difference operator | ||
118 | 83252 | bool operator!=(const BVNode& other) const { return !(*this == other); } | |
119 | |||
120 | /// @brief Check whether two BVNode collide | ||
121 | bool overlap(const BVNode& other) const { return bv.overlap(other.bv); } | ||
122 | /// @brief Check whether two BVNode collide | ||
123 | 37740092 | bool overlap(const BVNode& other, const CollisionRequest& request, | |
124 | Scalar& sqrDistLowerBound) const { | ||
125 | 37740092 | return bv.overlap(other.bv, request, sqrDistLowerBound); | |
126 | } | ||
127 | |||
128 | /// @brief Compute the distance between two BVNode. P1 and P2, if not NULL and | ||
129 | /// the underlying BV supports distance, return the nearest points. | ||
130 | 5556 | Scalar distance(const BVNode& other, Vec3s* P1 = NULL, | |
131 | Vec3s* P2 = NULL) const { | ||
132 | 5556 | return bv.distance(other.bv, P1, P2); | |
133 | } | ||
134 | |||
135 | /// @brief Access to the center of the BV | ||
136 | ✗ | Vec3s getCenter() const { return bv.center(); } | |
137 | |||
138 | /// @brief Access to the orientation of the BV | ||
139 | const Matrix3s& getOrientation() const { | ||
140 | static const Matrix3s id3 = Matrix3s::Identity(); | ||
141 | return id3; | ||
142 | } | ||
143 | |||
144 | /// \cond | ||
145 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
146 | /// \endcond | ||
147 | }; | ||
148 | |||
149 | template <> | ||
150 | inline const Matrix3s& BVNode<OBB>::getOrientation() const { | ||
151 | return bv.axes; | ||
152 | } | ||
153 | |||
154 | template <> | ||
155 | inline const Matrix3s& BVNode<RSS>::getOrientation() const { | ||
156 | return bv.axes; | ||
157 | } | ||
158 | |||
159 | template <> | ||
160 | inline const Matrix3s& BVNode<OBBRSS>::getOrientation() const { | ||
161 | return bv.obb.axes; | ||
162 | } | ||
163 | |||
164 | } // namespace coal | ||
165 | |||
166 | #endif | ||
167 |