| Line | Branch | Exec | Source |
|---|---|---|---|
| 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. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 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 | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 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 | #include "coal/internal/BV_splitter.h" | ||
| 39 | |||
| 40 | namespace coal { | ||
| 41 | |||
| 42 | template <typename BV> | ||
| 43 | 1129992 | void computeSplitVector(const BV& bv, Vec3s& split_vector) { | |
| 44 |
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1129992 | split_vector = bv.axes.col(0); |
| 45 | 1129992 | } | |
| 46 | |||
| 47 | template <> | ||
| 48 | 138119 | void computeSplitVector<kIOS>(const kIOS& bv, Vec3s& split_vector) { | |
| 49 | /* | ||
| 50 | switch(bv.num_spheres) | ||
| 51 | { | ||
| 52 | case 1: | ||
| 53 | split_vector = Vec3s(1, 0, 0); | ||
| 54 | break; | ||
| 55 | case 3: | ||
| 56 | { | ||
| 57 | Vec3s v[3]; | ||
| 58 | v[0] = bv.spheres[1].o - bv.spheres[0].o; | ||
| 59 | v[0].normalize(); | ||
| 60 | generateCoordinateSystem(v[0], v[1], v[2]); | ||
| 61 | split_vector = v[1]; | ||
| 62 | } | ||
| 63 | break; | ||
| 64 | case 5: | ||
| 65 | { | ||
| 66 | Vec3s v[2]; | ||
| 67 | v[0] = bv.spheres[1].o - bv.spheres[0].o; | ||
| 68 | v[1] = bv.spheres[3].o - bv.spheres[0].o; | ||
| 69 | split_vector = v[0].cross(v[1]); | ||
| 70 | split_vector.normalize(); | ||
| 71 | } | ||
| 72 | break; | ||
| 73 | default: | ||
| 74 | ; | ||
| 75 | } | ||
| 76 | */ | ||
| 77 |
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138119 | split_vector = bv.obb.axes.col(0); |
| 78 | 138119 | } | |
| 79 | |||
| 80 | template <> | ||
| 81 | 1024786 | void computeSplitVector<OBBRSS>(const OBBRSS& bv, Vec3s& split_vector) { | |
| 82 |
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1024786 | split_vector = bv.obb.axes.col(0); |
| 83 | 1024786 | } | |
| 84 | |||
| 85 | template <typename BV> | ||
| 86 | 541848 | void computeSplitValue_bvcenter(const BV& bv, Scalar& split_value) { | |
| 87 |
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541848 | Vec3s center = bv.center(); |
| 88 |
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541848 | split_value = center[0]; |
| 89 | 541848 | } | |
| 90 | |||
| 91 | template <typename BV> | ||
| 92 | 2427862 | void computeSplitValue_mean(const BV&, Vec3s* vertices, Triangle32* triangles, | |
| 93 | unsigned int* primitive_indices, | ||
| 94 | unsigned int num_primitives, BVHModelType type, | ||
| 95 | const Vec3s& split_vector, Scalar& split_value) { | ||
| 96 |
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2427862 | if (type == BVH_MODEL_TRIANGLES) { |
| 97 |
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2427862 | Vec3s c(Vec3s::Zero()); |
| 98 | |||
| 99 |
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15557852 | for (unsigned int i = 0; i < num_primitives; ++i) { |
| 100 | 13129990 | const Triangle32& t = triangles[primitive_indices[i]]; | |
| 101 | 13129990 | const Vec3s& p1 = vertices[t[0]]; | |
| 102 | 13129990 | const Vec3s& p2 = vertices[t[1]]; | |
| 103 | 13129990 | const Vec3s& p3 = vertices[t[2]]; | |
| 104 | |||
| 105 |
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13129990 | c += p1 + p2 + p3; |
| 106 | } | ||
| 107 |
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2427862 | split_value = c.dot(split_vector) / Scalar(3 * num_primitives); |
| 108 | ✗ | } else if (type == BVH_MODEL_POINTCLOUD) { | |
| 109 | ✗ | Scalar sum = 0; | |
| 110 | ✗ | for (unsigned int i = 0; i < num_primitives; ++i) { | |
| 111 | ✗ | const Vec3s& p = vertices[primitive_indices[i]]; | |
| 112 | ✗ | sum += p.dot(split_vector); | |
| 113 | } | ||
| 114 | |||
| 115 | ✗ | split_value = sum / Scalar(num_primitives); | |
| 116 | } | ||
| 117 | 2427862 | } | |
| 118 | |||
| 119 | template <typename BV> | ||
| 120 | 486092 | void computeSplitValue_median(const BV&, Vec3s* vertices, Triangle32* triangles, | |
| 121 | unsigned int* primitive_indices, | ||
| 122 | unsigned int num_primitives, BVHModelType type, | ||
| 123 | const Vec3s& split_vector, Scalar& split_value) { | ||
| 124 |
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486092 | std::vector<Scalar> proj(num_primitives); |
| 125 | |||
| 126 |
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486092 | if (type == BVH_MODEL_TRIANGLES) { |
| 127 |
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3378974 | for (unsigned int i = 0; i < num_primitives; ++i) { |
| 128 | 2892882 | const Triangle32& t = triangles[primitive_indices[i]]; | |
| 129 | 2892882 | const Vec3s& p1 = vertices[t[0]]; | |
| 130 | 2892882 | const Vec3s& p2 = vertices[t[1]]; | |
| 131 | 2892882 | const Vec3s& p3 = vertices[t[2]]; | |
| 132 |
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2892882 | Vec3s centroid3(p1[0] + p2[0] + p3[0], p1[1] + p2[1] + p3[1], |
| 133 |
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2892882 | p1[2] + p2[2] + p3[2]); |
| 134 | |||
| 135 |
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2892882 | proj[i] = centroid3.dot(split_vector) / 3; |
| 136 | } | ||
| 137 | ✗ | } else if (type == BVH_MODEL_POINTCLOUD) { | |
| 138 | ✗ | for (unsigned int i = 0; i < num_primitives; ++i) { | |
| 139 | ✗ | const Vec3s& p = vertices[primitive_indices[i]]; | |
| 140 | ✗ | Vec3s v(p[0], p[1], p[2]); | |
| 141 | ✗ | proj[i] = v.dot(split_vector); | |
| 142 | } | ||
| 143 | } | ||
| 144 | |||
| 145 |
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486092 | std::sort(proj.begin(), proj.end()); |
| 146 | |||
| 147 |
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486092 | if (num_primitives % 2 == 1) { |
| 148 | 305462 | split_value = proj[(num_primitives - 1) / 2]; | |
| 149 | } else { | ||
| 150 | 180630 | split_value = (proj[num_primitives / 2] + proj[num_primitives / 2 - 1]) / 2; | |
| 151 | } | ||
| 152 | 486092 | } | |
| 153 | |||
| 154 | template <> | ||
| 155 | 88424 | void BVSplitter<OBB>::computeRule_bvcenter(const OBB& bv, unsigned int*, | |
| 156 | unsigned int) { | ||
| 157 | 88424 | computeSplitVector<OBB>(bv, split_vector); | |
| 158 | 88424 | computeSplitValue_bvcenter<OBB>(bv, split_value); | |
| 159 | 88424 | } | |
| 160 | |||
| 161 | template <> | ||
| 162 | 110639 | void BVSplitter<OBB>::computeRule_mean(const OBB& bv, | |
| 163 | unsigned int* primitive_indices, | ||
| 164 | unsigned int num_primitives) { | ||
| 165 | 110639 | computeSplitVector<OBB>(bv, split_vector); | |
| 166 | 110639 | computeSplitValue_mean<OBB>(bv, vertices, tri_indices, primitive_indices, | |
| 167 | 110639 | num_primitives, type, split_vector, split_value); | |
| 168 | 110639 | } | |
| 169 | |||
| 170 | template <> | ||
| 171 | 88424 | void BVSplitter<OBB>::computeRule_median(const OBB& bv, | |
| 172 | unsigned int* primitive_indices, | ||
| 173 | unsigned int num_primitives) { | ||
| 174 | 88424 | computeSplitVector<OBB>(bv, split_vector); | |
| 175 | 88424 | computeSplitValue_median<OBB>(bv, vertices, tri_indices, primitive_indices, | |
| 176 | 88424 | num_primitives, type, split_vector, | |
| 177 | 88424 | split_value); | |
| 178 | 88424 | } | |
| 179 | |||
| 180 | template <> | ||
| 181 | 98004 | void BVSplitter<RSS>::computeRule_bvcenter(const RSS& bv, unsigned int*, | |
| 182 | unsigned int) { | ||
| 183 | 98004 | computeSplitVector<RSS>(bv, split_vector); | |
| 184 | 98004 | computeSplitValue_bvcenter<RSS>(bv, split_value); | |
| 185 | 98004 | } | |
| 186 | |||
| 187 | template <> | ||
| 188 | 109379 | void BVSplitter<RSS>::computeRule_mean(const RSS& bv, | |
| 189 | unsigned int* primitive_indices, | ||
| 190 | unsigned int num_primitives) { | ||
| 191 | 109379 | computeSplitVector<RSS>(bv, split_vector); | |
| 192 | 109379 | computeSplitValue_mean<RSS>(bv, vertices, tri_indices, primitive_indices, | |
| 193 | 109379 | num_primitives, type, split_vector, split_value); | |
| 194 | 109379 | } | |
| 195 | |||
| 196 | template <> | ||
| 197 | 70126 | void BVSplitter<RSS>::computeRule_median(const RSS& bv, | |
| 198 | unsigned int* primitive_indices, | ||
| 199 | unsigned int num_primitives) { | ||
| 200 | 70126 | computeSplitVector<RSS>(bv, split_vector); | |
| 201 | 70126 | computeSplitValue_median<RSS>(bv, vertices, tri_indices, primitive_indices, | |
| 202 | 70126 | num_primitives, type, split_vector, | |
| 203 | 70126 | split_value); | |
| 204 | 70126 | } | |
| 205 | |||
| 206 | template <> | ||
| 207 | 42248 | void BVSplitter<kIOS>::computeRule_bvcenter(const kIOS& bv, unsigned int*, | |
| 208 | unsigned int) { | ||
| 209 | 42248 | computeSplitVector<kIOS>(bv, split_vector); | |
| 210 | 42248 | computeSplitValue_bvcenter<kIOS>(bv, split_value); | |
| 211 | 42248 | } | |
| 212 | |||
| 213 | template <> | ||
| 214 | 53623 | void BVSplitter<kIOS>::computeRule_mean(const kIOS& bv, | |
| 215 | unsigned int* primitive_indices, | ||
| 216 | unsigned int num_primitives) { | ||
| 217 | 53623 | computeSplitVector<kIOS>(bv, split_vector); | |
| 218 | 53623 | computeSplitValue_mean<kIOS>(bv, vertices, tri_indices, primitive_indices, | |
| 219 | 53623 | num_primitives, type, split_vector, split_value); | |
| 220 | 53623 | } | |
| 221 | |||
| 222 | template <> | ||
| 223 | 42248 | void BVSplitter<kIOS>::computeRule_median(const kIOS& bv, | |
| 224 | unsigned int* primitive_indices, | ||
| 225 | unsigned int num_primitives) { | ||
| 226 | 42248 | computeSplitVector<kIOS>(bv, split_vector); | |
| 227 | 42248 | computeSplitValue_median<kIOS>(bv, vertices, tri_indices, primitive_indices, | |
| 228 | 42248 | num_primitives, type, split_vector, | |
| 229 | 42248 | split_value); | |
| 230 | 42248 | } | |
| 231 | |||
| 232 | template <> | ||
| 233 | 42248 | void BVSplitter<OBBRSS>::computeRule_bvcenter(const OBBRSS& bv, unsigned int*, | |
| 234 | unsigned int) { | ||
| 235 | 42248 | computeSplitVector<OBBRSS>(bv, split_vector); | |
| 236 | 42248 | computeSplitValue_bvcenter<OBBRSS>(bv, split_value); | |
| 237 | 42248 | } | |
| 238 | |||
| 239 | template <> | ||
| 240 | 940290 | void BVSplitter<OBBRSS>::computeRule_mean(const OBBRSS& bv, | |
| 241 | unsigned int* primitive_indices, | ||
| 242 | unsigned int num_primitives) { | ||
| 243 | 940290 | computeSplitVector<OBBRSS>(bv, split_vector); | |
| 244 | 940290 | computeSplitValue_mean<OBBRSS>(bv, vertices, tri_indices, primitive_indices, | |
| 245 | 940290 | num_primitives, type, split_vector, | |
| 246 | 940290 | split_value); | |
| 247 | 940290 | } | |
| 248 | |||
| 249 | template <> | ||
| 250 | 42248 | void BVSplitter<OBBRSS>::computeRule_median(const OBBRSS& bv, | |
| 251 | unsigned int* primitive_indices, | ||
| 252 | unsigned int num_primitives) { | ||
| 253 | 42248 | computeSplitVector<OBBRSS>(bv, split_vector); | |
| 254 | 42248 | computeSplitValue_median<OBBRSS>(bv, vertices, tri_indices, primitive_indices, | |
| 255 | 42248 | num_primitives, type, split_vector, | |
| 256 | 42248 | split_value); | |
| 257 | 42248 | } | |
| 258 | |||
| 259 | template <> | ||
| 260 | 1685027 | bool BVSplitter<OBB>::apply(const Vec3s& q) const { | |
| 261 |
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1685027 | return split_vector.dot(Vec3s(q[0], q[1], q[2])) > split_value; |
| 262 | } | ||
| 263 | |||
| 264 | template <> | ||
| 265 | 1623891 | bool BVSplitter<RSS>::apply(const Vec3s& q) const { | |
| 266 |
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1623891 | return split_vector.dot(Vec3s(q[0], q[1], q[2])) > split_value; |
| 267 | } | ||
| 268 | |||
| 269 | template <> | ||
| 270 | 809058 | bool BVSplitter<kIOS>::apply(const Vec3s& q) const { | |
| 271 |
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809058 | return split_vector.dot(Vec3s(q[0], q[1], q[2])) > split_value; |
| 272 | } | ||
| 273 | |||
| 274 | template <> | ||
| 275 | 4870728 | bool BVSplitter<OBBRSS>::apply(const Vec3s& q) const { | |
| 276 |
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4870728 | return split_vector.dot(Vec3s(q[0], q[1], q[2])) > split_value; |
| 277 | } | ||
| 278 | |||
| 279 | template class BVSplitter<RSS>; | ||
| 280 | template class BVSplitter<OBBRSS>; | ||
| 281 | template class BVSplitter<OBB>; | ||
| 282 | template class BVSplitter<kIOS>; | ||
| 283 | |||
| 284 | } // namespace coal | ||
| 285 |