GCC Code Coverage Report

Directory: ./
File: include/coal/shape/geometric_shape_to_BVH_model.h
Date: 2025-05-02 10:16:21
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Lines: 188 190 98.9%
Branches: 142 212 67.0%
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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.
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 #ifndef COAL_GEOMETRIC_SHAPE_TO_BVH_MODEL_H
39 #define COAL_GEOMETRIC_SHAPE_TO_BVH_MODEL_H
40
41 #include "coal/shape/geometric_shapes.h"
42 #include "coal/BVH/BVH_model.h"
43 #include <boost/math/constants/constants.hpp>
44
45 namespace coal {
46
47 /// @brief Generate BVH model from box
48 template <typename BV>
49 1866 void generateBVHModel(BVHModel<BV>& model, const Box& shape,
50 const Transform3s& pose) {
51
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 1866 Scalar a = shape.halfSide[0];
52
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 1866 Scalar b = shape.halfSide[1];
53
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 1866 Scalar c = shape.halfSide[2];
54
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 1866 std::vector<Vec3s> points(8);
55
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 1866 std::vector<Triangle32> tri_indices(12);
56
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 1866 points[0] = Vec3s(a, -b, c);
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 1866 points[1] = Vec3s(a, b, c);
58
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 1866 points[2] = Vec3s(-a, b, c);
59
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 1866 points[3] = Vec3s(-a, -b, c);
60
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 1866 points[4] = Vec3s(a, -b, -c);
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 1866 points[5] = Vec3s(a, b, -c);
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 1866 points[6] = Vec3s(-a, b, -c);
63
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 1866 points[7] = Vec3s(-a, -b, -c);
64
65 1866 tri_indices[0].set(0, 4, 1);
66 1866 tri_indices[1].set(1, 4, 5);
67 1866 tri_indices[2].set(2, 6, 3);
68 1866 tri_indices[3].set(3, 6, 7);
69 1866 tri_indices[4].set(3, 0, 2);
70 1866 tri_indices[5].set(2, 0, 1);
71 1866 tri_indices[6].set(6, 5, 7);
72 1866 tri_indices[7].set(7, 5, 4);
73 1866 tri_indices[8].set(1, 5, 2);
74 1866 tri_indices[9].set(2, 5, 6);
75 1866 tri_indices[10].set(3, 7, 0);
76 1866 tri_indices[11].set(0, 7, 4);
77
78
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 16794 for (unsigned int i = 0; i < points.size(); ++i) {
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 14928 points[i] = pose.transform(points[i]).eval();
80 }
81
82
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 1866 model.beginModel();
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 1866 model.addSubModel(points, tri_indices);
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 1866 model.endModel();
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 1866 model.computeLocalAABB();
86 1866 }
87
88 /// @brief Generate BVH model from sphere, given the number of segments along
89 /// longitude and number of rings along latitude.
90 template <typename BV>
91 369 void generateBVHModel(BVHModel<BV>& model, const Sphere& shape,
92 const Transform3s& pose, unsigned int seg,
93 unsigned int ring) {
94 369 std::vector<Vec3s> points;
95 369 std::vector<Triangle32> tri_indices;
96
97 369 Scalar r = shape.radius;
98 Scalar phi, phid;
99 369 const Scalar pi = boost::math::constants::pi<Scalar>();
100 369 phid = pi * 2 / Scalar(seg);
101 369 phi = 0;
102
103 Scalar theta, thetad;
104 369 thetad = pi / Scalar(ring + 1);
105 369 theta = 0;
106
107
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 6256 for (unsigned int i = 0; i < ring; ++i) {
108 5887 Scalar theta_ = theta + thetad * Scalar(i + 1);
109
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 99964 for (unsigned int j = 0; j < seg; ++j) {
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 94077 points.push_back(Vec3s(r * sin(theta_) * cos(phi + Scalar(j) * phid),
111 ✗ r * sin(theta_) * sin(phi + Scalar(j) * phid),
112
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 188154 r * cos(theta_)));
113 }
114 }
115
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 369 points.push_back(Vec3s(0, 0, r));
116
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 369 points.push_back(Vec3s(0, 0, -r));
117
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 5887 for (unsigned int i = 0; i < ring - 1; ++i) {
119
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 93708 for (unsigned int j = 0; j < seg; ++j) {
120 unsigned int a, b, c, d;
121 88190 a = i * seg + j;
122
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 88190 b = (j == seg - 1) ? (i * seg) : (i * seg + j + 1);
123 88190 c = (i + 1) * seg + j;
124
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 88190 d = (j == seg - 1) ? ((i + 1) * seg) : ((i + 1) * seg + j + 1);
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 88190 tri_indices.push_back(Triangle32(a, c, b));
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 88190 tri_indices.push_back(Triangle32(b, c, d));
127 }
128 }
129
130
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 6256 for (unsigned int j = 0; j < seg; ++j) {
131 unsigned int a, b;
132 5887 a = j;
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 5887 b = (j == seg - 1) ? 0 : (j + 1);
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 5887 tri_indices.push_back(Triangle32(ring * seg, a, b));
135
136 5887 a = (ring - 1) * seg + j;
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 5887 b = (j == seg - 1) ? (ring - 1) * seg : ((ring - 1) * seg + j + 1);
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 5887 tri_indices.push_back(Triangle32(a, ring * seg + 1, b));
139 }
140
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 95184 for (unsigned int i = 0; i < points.size(); ++i) {
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 94815 points[i] = pose.transform(points[i]);
143 }
144
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 369 model.beginModel();
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 369 model.addSubModel(points, tri_indices);
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 369 model.endModel();
148
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 369 model.computeLocalAABB();
149 369 }
150
151 /// @brief Generate BVH model from sphere
152 /// The difference between generateBVHModel is that it gives the number of
153 /// triangles faces N for a sphere with unit radius. For sphere of radius r,
154 /// then the number of triangles is r * r * N so that the area represented by a
155 /// single triangle is approximately the same.s
156 template <typename BV>
157 1 void generateBVHModel(BVHModel<BV>& model, const Sphere& shape,
158 const Transform3s& pose,
159 unsigned int n_faces_for_unit_sphere) {
160 1 Scalar r = shape.radius;
161 1 Scalar n_low_bound =
162 1 std::sqrt((Scalar)n_faces_for_unit_sphere / Scalar(2.)) * r * r;
163 1 unsigned int ring = (unsigned int)ceil(n_low_bound);
164 1 unsigned int seg = (unsigned int)ceil(n_low_bound);
165
166 1 generateBVHModel(model, shape, pose, seg, ring);
167 1 }
168
169 /// @brief Generate BVH model from cylinder, given the number of segments along
170 /// circle and the number of segments along axis.
171 template <typename BV>
172 369 void generateBVHModel(BVHModel<BV>& model, const Cylinder& shape,
173 const Transform3s& pose, unsigned int tot,
174 unsigned int h_num) {
175 369 std::vector<Vec3s> points;
176 369 std::vector<Triangle32> tri_indices;
177
178 369 Scalar r = shape.radius;
179 369 Scalar h = shape.halfLength;
180 Scalar phi, phid;
181 369 const Scalar pi = boost::math::constants::pi<Scalar>();
182 369 phid = pi * 2 / Scalar(tot);
183 369 phi = 0;
184
185 369 Scalar hd = 2 * h / Scalar(h_num);
186
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 5932 points.push_back(Vec3s(r * cos(phi + phid * Scalar(i)),
189
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 11864 r * sin(phi + phid * Scalar(i)), h));
190
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 5890 for (unsigned int i = 0; i < h_num - 1; ++i) {
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 94041 for (unsigned int j = 0; j < tot; ++j) {
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 88520 points.push_back(Vec3s(r * cos(phi + phid * Scalar(j)),
194 ✗ r * sin(phi + phid * Scalar(j)),
195
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 177040 h - Scalar(i + 1) * hd));
196 }
197 }
198
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 11864 r * sin(phi + phid * Scalar(i)), -h));
202
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 369 points.push_back(Vec3s(0, 0, h));
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 6301 for (unsigned int i = 0; i < tot; ++i) {
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 5932 Triangle32 tmp((h_num + 1) * tot, i, ((i == tot - 1) ? 0 : (i + 1)));
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 5932 tri_indices.push_back(tmp);
209 }
210
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 6301 for (unsigned int i = 0; i < tot; ++i) {
212 5932 Triangle32 tmp((h_num + 1) * tot + 1,
213 5932 h_num * tot + ((i == tot - 1) ? 0 : (i + 1)),
214
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 5932 h_num * tot + i);
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216 }
217
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220 unsigned int a, b, c, d;
221 94452 a = j;
222
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 94452 b = (j == tot - 1) ? 0 : (j + 1);
223 94452 c = j + tot;
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 94452 d = (j == tot - 1) ? tot : (j + 1 + tot);
225
226 94452 unsigned int start = i * tot;
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 94452 tri_indices.push_back(Triangle32(start + b, start + a, start + c));
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 94452 tri_indices.push_back(Triangle32(start + b, start + c, start + d));
229 }
230 }
231
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 101491 for (unsigned int i = 0; i < points.size(); ++i) {
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 101122 points[i] = pose.transform(points[i]);
234 }
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 369 model.beginModel();
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 369 model.addSubModel(points, tri_indices);
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 369 model.endModel();
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 369 model.computeLocalAABB();
240 369 }
241
242 /// @brief Generate BVH model from cylinder
243 /// Difference from generateBVHModel: is that it gives the circle split number
244 /// tot for a cylinder with unit radius. For cylinder with larger radius, the
245 /// number of circle split number is r * tot.
246 template <typename BV>
247 1 void generateBVHModel(BVHModel<BV>& model, const Cylinder& shape,
248 const Transform3s& pose,
249 unsigned int tot_for_unit_cylinder) {
250 1 Scalar r = shape.radius;
251 1 Scalar h = 2 * shape.halfLength;
252
253 1 const Scalar pi = boost::math::constants::pi<Scalar>();
254 1 unsigned int tot = (unsigned int)(Scalar(tot_for_unit_cylinder) * r);
255 1 Scalar phid = pi * 2 / Scalar(tot);
256
257 1 Scalar circle_edge = phid * r;
258 1 unsigned int h_num = (unsigned int)ceil(h / circle_edge);
259
260 1 generateBVHModel(model, shape, pose, tot, h_num);
261 1 }
262
263 /// @brief Generate BVH model from cone, given the number of segments along
264 /// circle and the number of segments along axis.
265 template <typename BV>
266 2 void generateBVHModel(BVHModel<BV>& model, const Cone& shape,
267 const Transform3s& pose, unsigned int tot,
268 unsigned int h_num) {
269 2 std::vector<Vec3s> points;
270 2 std::vector<Triangle32> tri_indices;
271
272 2 Scalar r = shape.radius;
273 2 Scalar h = shape.halfLength;
274
275 Scalar phi, phid;
276 2 const Scalar pi = boost::math::constants::pi<Scalar>();
277 2 phid = pi * 2 / Scalar(tot);
278 2 phi = 0;
279
280 2 Scalar hd = 2 * h / Scalar(h_num);
281
282
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 18 for (unsigned int i = 0; i < h_num - 1; ++i) {
283 16 Scalar h_i = h - Scalar(i + 1) * hd;
284 16 Scalar rh = r * (Scalar(0.5) - h_i / h / 2);
285
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 456 for (unsigned int j = 0; j < tot; ++j) {
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 440 points.push_back(Vec3s(rh * cos(phi + phid * Scalar(j)),
287
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 880 rh * sin(phi + phid * Scalar(j)), h_i));
288 }
289 }
290
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 62 for (unsigned int i = 0; i < tot; ++i)
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 60 points.push_back(Vec3s(r * cos(phi + phid * Scalar(i)),
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 120 r * sin(phi + phid * Scalar(i)), -h));
294
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 62 for (unsigned int i = 0; i < tot; ++i) {
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 60 Triangle32 tmp(h_num * tot, i, (i == tot - 1) ? 0 : (i + 1));
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 60 tri_indices.push_back(tmp);
301 }
302
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 62 for (unsigned int i = 0; i < tot; ++i) {
304 60 Triangle32 tmp(h_num * tot + 1,
305 60 (h_num - 1) * tot + ((i == tot - 1) ? 0 : (i + 1)),
306
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 60 (h_num - 1) * tot + i);
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 60 tri_indices.push_back(tmp);
308 }
309
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 18 for (unsigned int i = 0; i < h_num - 1; ++i) {
311
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 456 for (unsigned int j = 0; j < tot; ++j) {
312 unsigned int a, b, c, d;
313 440 a = j;
314
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 440 b = (j == tot - 1) ? 0 : (j + 1);
315 440 c = j + tot;
316
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 440 d = (j == tot - 1) ? tot : (j + 1 + tot);
317
318 440 unsigned int start = i * tot;
319
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 440 tri_indices.push_back(Triangle32(start + b, start + a, start + c));
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 440 tri_indices.push_back(Triangle32(start + b, start + c, start + d));
321 }
322 }
323
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 506 for (unsigned int i = 0; i < points.size(); ++i) {
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 504 points[i] = pose.transform(points[i]);
326 }
327
328
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 2 model.beginModel();
329
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 2 model.addSubModel(points, tri_indices);
330
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 2 model.endModel();
331
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 2 model.computeLocalAABB();
332 2 }
333
334 /// @brief Generate BVH model from cone
335 /// Difference from generateBVHModel: is that it gives the circle split number
336 /// tot for a cylinder with unit radius. For cone with larger radius, the number
337 /// of circle split number is r * tot.
338 template <typename BV>
339 1 void generateBVHModel(BVHModel<BV>& model, const Cone& shape,
340 const Transform3s& pose, unsigned int tot_for_unit_cone) {
341 1 Scalar r = shape.radius;
342 1 Scalar h = 2 * shape.halfLength;
343
344 1 const Scalar pi = boost::math::constants::pi<Scalar>();
345 1 unsigned int tot = (unsigned int)(Scalar(tot_for_unit_cone) * r);
346 1 Scalar phid = pi * 2 / Scalar(tot);
347
348 1 Scalar circle_edge = phid * r;
349 1 unsigned int h_num = (unsigned int)ceil(h / circle_edge);
350
351 1 generateBVHModel(model, shape, pose, tot, h_num);
352 1 }
353
354 } // namespace coal
355
356 #endif
357