A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...

#include <coal/BVH/BVH_model.h>

Inheritance diagram for coal::BVHModel< BV >:

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Collaboration diagram for coal::BVHModel< BV >:

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Public Types
using	bv_node_vector_t = std::vector< BVNode< BV >, Eigen::aligned_allocator< BVNode< BV > > >

Public Types inherited from coal::BVHModelBase
typedef Triangle32::IndexType	IndexType

typedef ConvexBaseTpl< IndexType >	ConvexType

Public Member Functions
	BVHModel ()
	Default constructor to build an empty BVH.

	BVHModel (const BVHModel &other)
	Copy constructor from another BVH.

virtual BVHModel< BV > *	clone () const
	Clone *this into a new BVHModel.

	~BVHModel ()
	deconstruction, delete mesh data related.

const BVNode< BV > &	getBV (unsigned int i) const
	We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here.

BVNode< BV > &	getBV (unsigned int i)
	Access the bv giving the its index.

unsigned int	getNumBVs () const
	Get the number of bv in the BVH.

NODE_TYPE	getNodeType () const
	Get the BV type: default is unknown.

int	memUsage (const bool msg) const
	Check the number of memory used.

void	makeParentRelative ()
	This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent BV node. When traversing the BVH, this can save one matrix transformation.

NODE_TYPE	getNodeType () const
	Specialization of getNodeType() for BVHModel with different BV types.

NODE_TYPE	getNodeType () const
	get the node type

NODE_TYPE	getNodeType () const
	get the node type

NODE_TYPE	getNodeType () const
	get the node type

NODE_TYPE	getNodeType () const
	get the node type

NODE_TYPE	getNodeType () const
	get the node type

NODE_TYPE	getNodeType () const
	get the node type

NODE_TYPE	getNodeType () const
	get the node type

Public Member Functions inherited from coal::BVHModelBase
BVHModelType	getModelType () const
	Model type described by the instance.

	BVHModelBase ()
	Constructing an empty BVH.

	BVHModelBase (const BVHModelBase &other)
	copy from another BVH

virtual	~BVHModelBase ()
	deconstruction, delete mesh data related.

OBJECT_TYPE	getObjectType () const
	Get the object type: it is a BVH.

void	computeLocalAABB ()
	Compute the AABB for the BVH, used for broad-phase collision.

int	beginModel (unsigned int num_tris=0, unsigned int num_vertices=0)
	Begin a new BVH model.

int	addVertex (const Vec3s &p)
	Add one point in the new BVH model.

int	addVertices (const MatrixX3s &points)
	Add points in the new BVH model.

int	addTriangles (const Matrixx3i &triangles)
	Add triangles in the new BVH model.

int	addTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &p3)
	Add one triangle in the new BVH model.

int	addSubModel (const std::vector< Vec3s > &ps, const std::vector< Triangle32 > &ts)
	Add a set of triangles in the new BVH model.

int	addSubModel (const std::vector< Vec3s > &ps)
	Add a set of points in the new BVH model.

int	endModel ()
	End BVH model construction, will build the bounding volume hierarchy.

int	beginReplaceModel ()
	Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame)

int	replaceVertex (const Vec3s &p)
	Replace one point in the old BVH model.

int	replaceTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &p3)
	Replace one triangle in the old BVH model.

int	replaceSubModel (const std::vector< Vec3s > &ps)
	Replace a set of points in the old BVH model.

int	endReplaceModel (bool refit=true, bool bottomup=true)
	End BVH model replacement, will also refit or rebuild the bounding volume hierarchy.

int	beginUpdateModel ()
	Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame). The current frame will be saved as the previous frame in prev_vertices.

int	updateVertex (const Vec3s &p)
	Update one point in the old BVH model.

int	updateTriangle (const Vec3s &p1, const Vec3s &p2, const Vec3s &p3)
	Update one triangle in the old BVH model.

int	updateSubModel (const std::vector< Vec3s > &ps)
	Update a set of points in the old BVH model.

int	endUpdateModel (bool refit=true, bool bottomup=true)
	End BVH model update, will also refit or rebuild the bounding volume hierarchy.

void	buildConvexRepresentation (bool share_memory)
	Build this Convex<Triangle> representation of this model. The result is stored in attribute convex.

bool	buildConvexHull (bool keepTriangle, const char *qhullCommand=NULL)
	Build a convex hull and store it in attribute convex.

Vec3s	computeCOM () const
	compute center of mass

Scalar	computeVolume () const
	compute the volume

Matrix3s	computeMomentofInertia () const
	compute the inertia matrix, related to the origin

Public Member Functions inherited from coal::CollisionGeometry
	CollisionGeometry ()

	CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor.

virtual	~CollisionGeometry ()

bool	operator== (const CollisionGeometry &other) const
	Equality operator.

bool	operator!= (const CollisionGeometry &other) const
	Difference operator.

void *	getUserData () const
	get user data in geometry

void	setUserData (void *data)
	set user data in geometry

bool	isOccupied () const
	whether the object is completely occupied

bool	isFree () const
	whether the object is completely free

bool	isUncertain () const
	whether the object has some uncertainty

virtual Matrix3s	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com

Public Attributes
shared_ptr< BVSplitter< BV > >	bv_splitter
	Split rule to split one BV node into two children.

shared_ptr< BVFitter< BV > >	bv_fitter
	Fitting rule to fit a BV node to a set of geometry primitives.

Public Attributes inherited from coal::BVHModelBase
std::shared_ptr< std::vector< Vec3s > >	vertices
	Geometry point data.

std::shared_ptr< std::vector< Triangle32 > >	tri_indices
	Geometry triangle index data, will be NULL for point clouds.

std::shared_ptr< std::vector< Vec3s > >	prev_vertices
	Geometry point data in previous frame.

unsigned int	num_tris
	Number of triangles.

unsigned int	num_vertices
	Number of points.

BVHBuildState	build_state
	The state of BVH building process.

shared_ptr< ConvexType >	convex
	Convex<Triangle> representation of this object.

Public Attributes inherited from coal::CollisionGeometry
Vec3s	aabb_center
	AABB center in local coordinate.

Scalar	aabb_radius
	AABB radius.

AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.

void *	user_data
	pointer to user defined data specific to this object

Scalar	cost_density
	collision cost for unit volume

Scalar	threshold_occupied
	threshold for occupied ( >= is occupied)

Scalar	threshold_free
	threshold for free (<= is free)

Protected Member Functions
void	deleteBVs ()

bool	allocateBVs ()

int	buildTree ()
	Build the bounding volume hierarchy.

int	refitTree (bool bottomup)
	Refit the bounding volume hierarchy.

int	refitTree_topdown ()
	Refit the bounding volume hierarchy in a top-down way (slow but more compact)

int	refitTree_bottomup ()
	Refit the bounding volume hierarchy in a bottom-up way (fast but less compact)

int	recursiveBuildTree (int bv_id, unsigned int first_primitive, unsigned int num_primitives)
	Recursive kernel for hierarchy construction.

int	recursiveRefitTree_bottomup (int bv_id)
	Recursive kernel for bottomup refitting.

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

void	makeParentRelativeRecurse (int bv_id, Matrix3s &parent_axes, const Vec3s &parent_c)

Protected Attributes
unsigned int	num_bvs_allocated

std::shared_ptr< std::vector< unsigned int > >	primitive_indices

std::shared_ptr< bv_node_vector_t >	bvs
	Bounding volume hierarchy.

unsigned int	num_bvs
	Number of BV nodes in bounding volume hierarchy.

Protected Attributes inherited from coal::BVHModelBase
unsigned int	num_tris_allocated

unsigned int	num_vertices_allocated

unsigned int	num_vertex_updated

Detailed Description

template<typename BV>
class coal::BVHModel< BV >

A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)

Template Parameters

BV	one of the bounding volume class in Bounding volumes.

Member Typedef Documentation

◆ bv_node_vector_t

template<typename BV >

using coal::BVHModel< BV >::bv_node_vector_t = std::vector<BVNode<BV>, Eigen::aligned_allocator<BVNode<BV> >>

Constructor & Destructor Documentation

◆ BVHModel() [1/2]

template<typename BV >

coal::BVHModel< BV >::BVHModel ( )

Default constructor to build an empty BVH.

◆ BVHModel() [2/2]

template<typename BV >

coal::BVHModel< BV >::BVHModel ( const BVHModel< BV > & other )

Copy constructor from another BVH.

Parameters

[in] other BVHModel to copy.

◆ ~BVHModel()

template<typename BV >

coal::BVHModel< BV >::~BVHModel ( )

inline

deconstruction, delete mesh data related.

Member Function Documentation

◆ allocateBVs()

template<typename BV >

bool coal::BVHModel< BV >::allocateBVs ( )

protectedvirtual

Implements coal::BVHModelBase.

◆ buildTree()

template<typename BV >

int coal::BVHModel< BV >::buildTree ( )

protectedvirtual

Build the bounding volume hierarchy.

Implements coal::BVHModelBase.

◆ clone()

template<typename BV >

virtual BVHModel< BV > * coal::BVHModel< BV >::clone ( ) const

inlinevirtual

Clone *this into a new BVHModel.

Implements coal::CollisionGeometry.

◆ deleteBVs()

template<typename BV >

void coal::BVHModel< BV >::deleteBVs ( )

protectedvirtual

Implements coal::BVHModelBase.

◆ getBV() [1/2]

template<typename BV >

BVNode< BV > & coal::BVHModel< BV >::getBV ( unsigned int i )

inline

Access the bv giving the its index.

◆ getBV() [2/2]

template<typename BV >

const BVNode< BV > & coal::BVHModel< BV >::getBV ( unsigned int i ) const

inline

We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here.

Access the bv giving the its index

◆ getNodeType() [1/9]

template<typename BV >

NODE_TYPE coal::BVHModel< BV >::getNodeType ( ) const

inlinevirtual

Get the BV type: default is unknown.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [2/9]

NODE_TYPE coal::BVHModel< AABB >::getNodeType ( ) const

virtual

Specialization of getNodeType() for BVHModel with different BV types.

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [3/9]

NODE_TYPE coal::BVHModel< OBB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [4/9]

NODE_TYPE coal::BVHModel< RSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [5/9]

NODE_TYPE coal::BVHModel< kIOS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [6/9]

NODE_TYPE coal::BVHModel< OBBRSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [7/9]

NODE_TYPE coal::BVHModel< KDOP< 16 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [8/9]

NODE_TYPE coal::BVHModel< KDOP< 18 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNodeType() [9/9]

NODE_TYPE coal::BVHModel< KDOP< 24 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from coal::CollisionGeometry.

◆ getNumBVs()

template<typename BV >

unsigned int coal::BVHModel< BV >::getNumBVs ( ) const

inline

Get the number of bv in the BVH.

◆ makeParentRelative()

template<typename BV >

void coal::BVHModel< BV >::makeParentRelative ( )

inlinevirtual

This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent BV node. When traversing the BVH, this can save one matrix transformation.

Implements coal::BVHModelBase.

◆ makeParentRelativeRecurse() [1/4]

template<typename BV >

void coal::BVHModel< BV >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

inlineprotected

@ recursively compute each bv's transform related to its parent. For default BV, only the translation works. For oriented BV (OBB, RSS, OBBRSS), special implementation is provided.

◆ makeParentRelativeRecurse() [2/4]

void coal::BVHModel< OBB >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

protected

◆ makeParentRelativeRecurse() [3/4]

void coal::BVHModel< RSS >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

protected

◆ makeParentRelativeRecurse() [4/4]

void coal::BVHModel< OBBRSS >::makeParentRelativeRecurse	(	int	bv_id,
		Matrix3s &	parent_axes,
		const Vec3s &	parent_c
	)

protected

◆ memUsage()

template<typename BV >

int coal::BVHModel< BV >::memUsage ( const bool msg ) const

virtual

Check the number of memory used.

Implements coal::BVHModelBase.

◆ recursiveBuildTree()

template<typename BV >

int coal::BVHModel< BV >::recursiveBuildTree	(	int	bv_id,
		unsigned int	first_primitive,
		unsigned int	num_primitives
	)

protected

Recursive kernel for hierarchy construction.

◆ recursiveRefitTree_bottomup()

template<typename BV >

int coal::BVHModel< BV >::recursiveRefitTree_bottomup ( int bv_id )

protected

Recursive kernel for bottomup refitting.

◆ refitTree()

template<typename BV >

int coal::BVHModel< BV >::refitTree ( bool bottomup )

protectedvirtual

Refit the bounding volume hierarchy.

Implements coal::BVHModelBase.

◆ refitTree_bottomup()

template<typename BV >

int coal::BVHModel< BV >::refitTree_bottomup ( )

protected

Refit the bounding volume hierarchy in a bottom-up way (fast but less compact)

◆ refitTree_topdown()

template<typename BV >

int coal::BVHModel< BV >::refitTree_topdown ( )

protected

Refit the bounding volume hierarchy in a top-down way (slow but more compact)

Member Data Documentation

◆ bv_fitter

template<typename BV >

shared_ptr<BVFitter<BV> > coal::BVHModel< BV >::bv_fitter

Fitting rule to fit a BV node to a set of geometry primitives.

◆ bv_splitter

template<typename BV >

shared_ptr<BVSplitter<BV> > coal::BVHModel< BV >::bv_splitter

Split rule to split one BV node into two children.

◆ bvs

template<typename BV >

std::shared_ptr<bv_node_vector_t> coal::BVHModel< BV >::bvs

protected

Bounding volume hierarchy.

◆ num_bvs

template<typename BV >

unsigned int coal::BVHModel< BV >::num_bvs

protected

Number of BV nodes in bounding volume hierarchy.

◆ num_bvs_allocated

template<typename BV >

unsigned int coal::BVHModel< BV >::num_bvs_allocated

protected

◆ primitive_indices

template<typename BV >

std::shared_ptr<std::vector<unsigned int> > coal::BVHModel< BV >::primitive_indices

protected

The documentation for this class was generated from the following file:

include/coal/BVH/BVH_model.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ bv_node_vector_t

Constructor & Destructor Documentation

◆ BVHModel() [1/2]

◆ BVHModel() [2/2]

◆ ~BVHModel()

Member Function Documentation

◆ allocateBVs()

◆ buildTree()

◆ clone()

◆ deleteBVs()

◆ getBV() [1/2]

◆ getBV() [2/2]

◆ getNodeType() [1/9]

◆ getNodeType() [2/9]

◆ getNodeType() [3/9]

◆ getNodeType() [4/9]

◆ getNodeType() [5/9]

◆ getNodeType() [6/9]

◆ getNodeType() [7/9]

◆ getNodeType() [8/9]

◆ getNodeType() [9/9]

◆ getNumBVs()

◆ makeParentRelative()

◆ makeParentRelativeRecurse() [1/4]

◆ makeParentRelativeRecurse() [2/4]

◆ makeParentRelativeRecurse() [3/4]

◆ makeParentRelativeRecurse() [4/4]

◆ memUsage()

◆ recursiveBuildTree()

◆ recursiveRefitTree_bottomup()

◆ refitTree()

◆ refitTree_bottomup()

◆ refitTree_topdown()

Member Data Documentation

◆ bv_fitter

◆ bv_splitter

◆ bvs

◆ num_bvs

◆ num_bvs_allocated

◆ primitive_indices