A base 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 <hpp/fcl/BVH/BVH_model.h>

Inheritance diagram for hpp::fcl::BVHModelBase:

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Collaboration diagram for hpp::fcl::BVHModelBase:

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Public Member Functions
BVHModelType	getModelType () const
	Model type described by the instance. More...

	BVHModelBase ()
	Constructing an empty BVH. More...

	BVHModelBase (const BVHModelBase &other)
	copy from another BVH More...

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

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

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

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

int	addVertex (const Vec3f &p)
	Add one point in the new BVH model. More...

int	addTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3)
	Add one triangle in the new BVH model. More...

int	addSubModel (const std::vector< Vec3f > &ps, const std::vector< Triangle > &ts)
	Add a set of triangles in the new BVH model. More...

int	addSubModel (const std::vector< Vec3f > &ps)
	Add a set of points in the new BVH model. More...

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

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

int	replaceVertex (const Vec3f &p)
	Replace one point in the old BVH model. More...

int	replaceTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3)
	Replace one triangle in the old BVH model. More...

int	replaceSubModel (const std::vector< Vec3f > &ps)
	Replace a set of points in the old BVH model. More...

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

int	beginUpdateModel ()
	Replace the geometry information of current frame (i.e. More...

int	updateVertex (const Vec3f &p)
	Update one point in the old BVH model. More...

int	updateTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3)
	Update one triangle in the old BVH model. More...

int	updateSubModel (const std::vector< Vec3f > &ps)
	Update a set of points in the old BVH model. More...

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

void	buildConvexRepresentation (bool share_memory)
	Build this Convex<Triangle> representation of this model. More...

virtual int	memUsage (int msg) const =0

virtual void	makeParentRelative ()=0
	This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. More...

Vec3f	computeCOM () const
	compute center of mass More...

FCL_REAL	computeVolume () const
	compute the volume More...

Matrix3f	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

Public Member Functions inherited from hpp::fcl::CollisionGeometry
	CollisionGeometry ()

virtual	~CollisionGeometry ()

virtual NODE_TYPE	getNodeType () const
	get the node type More...

void *	getUserData () const
	get user data in geometry More...

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

bool	isOccupied () const
	whether the object is completely occupied More...

bool	isFree () const
	whether the object is completely free More...

bool	isUncertain () const
	whether the object has some uncertainty More...

virtual Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

Public Attributes
Vec3f *	vertices
	Geometry point data. More...

Triangle *	tri_indices
	Geometry triangle index data, will be NULL for point clouds. More...

Vec3f *	prev_vertices
	Geometry point data in previous frame. More...

int	num_tris
	Number of triangles. More...

int	num_vertices
	Number of points. More...

BVHBuildState	build_state
	The state of BVH building process. More...

boost::shared_ptr< ConvexBase >	convex
	Convex<Triangle> representation of this object. More...

Public Attributes inherited from hpp::fcl::CollisionGeometry
Vec3f	aabb_center
	AABB center in local coordinate. More...

FCL_REAL	aabb_radius
	AABB radius. More...

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

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

FCL_REAL	cost_density
	collision cost for unit volume More...

FCL_REAL	threshold_occupied
	threshold for occupied ( >= is occupied) More...

FCL_REAL	threshold_free
	threshold for free (<= is free) More...

Protected Member Functions
virtual void	deleteBVs ()=0

virtual bool	allocateBVs ()=0

virtual int	buildTree ()=0
	Build the bounding volume hierarchy. More...

virtual int	refitTree (bool bottomup)=0
	Refit the bounding volume hierarchy. More...

Protected Attributes
int	num_tris_allocated

int	num_vertices_allocated

int	num_vertex_updated

Detailed Description

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

Constructor & Destructor Documentation

◆ BVHModelBase() [1/2]

hpp::fcl::BVHModelBase::BVHModelBase ( )

inline

Constructing an empty BVH.

◆ BVHModelBase() [2/2]

hpp::fcl::BVHModelBase::BVHModelBase ( const BVHModelBase & other )

copy from another BVH

◆ ~BVHModelBase()

virtual hpp::fcl::BVHModelBase::~BVHModelBase ( )

inlinevirtual

deconstruction, delete mesh data related.

References prev_vertices, tri_indices, and vertices.

Member Function Documentation

◆ addSubModel() [1/2]

int hpp::fcl::BVHModelBase::addSubModel	(	const std::vector< Vec3f > &	ps,
		const std::vector< Triangle > &	ts
	)

Add a set of triangles in the new BVH model.

Referenced by hpp::fcl::generateBVHModel(), and getObjectType().

◆ addSubModel() [2/2]

int hpp::fcl::BVHModelBase::addSubModel ( const std::vector< Vec3f > & ps )

Add a set of points in the new BVH model.

◆ addTriangle()

int hpp::fcl::BVHModelBase::addTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3
	)

Add one triangle in the new BVH model.

Referenced by getObjectType().

◆ addVertex()

int hpp::fcl::BVHModelBase::addVertex ( const Vec3f & p )

Add one point in the new BVH model.

Referenced by getObjectType().

◆ allocateBVs()

virtual bool hpp::fcl::BVHModelBase::allocateBVs ( )

protectedpure virtual

Referenced by computeMomentofInertia(), and hpp::fcl::BVHModel< BV >::makeParentRelative().

◆ beginModel()

int hpp::fcl::BVHModelBase::beginModel	(	int	num_tris = `0`,
		int	num_vertices = `0`
	)

Begin a new BVH model.

Referenced by hpp::fcl::generateBVHModel(), and getObjectType().

◆ beginReplaceModel()

int hpp::fcl::BVHModelBase::beginReplaceModel ( )

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

Referenced by getObjectType().

◆ beginUpdateModel()

int hpp::fcl::BVHModelBase::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.

Referenced by getObjectType().

◆ buildConvexRepresentation()

void hpp::fcl::BVHModelBase::buildConvexRepresentation ( bool share_memory )

Build this Convex<Triangle> representation of this model.

Note: this only takes the points of this model. It does not check that the object is convex. It does not compute a convex hull.

Referenced by getObjectType().

◆ buildTree()

virtual int hpp::fcl::BVHModelBase::buildTree ( )

protectedpure virtual

Build the bounding volume hierarchy.

Referenced by computeMomentofInertia(), and hpp::fcl::BVHModel< BV >::makeParentRelative().

◆ computeCOM()

Vec3f hpp::fcl::BVHModelBase::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented from hpp::fcl::CollisionGeometry.

References num_tris.

◆ computeLocalAABB()

void hpp::fcl::BVHModelBase::computeLocalAABB ( )

virtual

Compute the AABB for the BVH, used for broad-phase collision.

Implements hpp::fcl::CollisionGeometry.

Referenced by hpp::fcl::generateBVHModel(), and getObjectType().

◆ computeMomentofInertia()

Matrix3f hpp::fcl::BVHModelBase::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

References allocateBVs(), buildTree(), deleteBVs(), num_tris, and refitTree().

◆ computeVolume()

FCL_REAL hpp::fcl::BVHModelBase::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

References num_tris.

◆ deleteBVs()

virtual void hpp::fcl::BVHModelBase::deleteBVs ( )

protectedpure virtual

Referenced by computeMomentofInertia(), and hpp::fcl::BVHModel< BV >::makeParentRelative().

◆ endModel()

int hpp::fcl::BVHModelBase::endModel ( )

End BVH model construction, will build the bounding volume hierarchy.

Referenced by hpp::fcl::generateBVHModel(), and getObjectType().

◆ endReplaceModel()

int hpp::fcl::BVHModelBase::endReplaceModel	(	bool	refit = `true`,
		bool	bottomup = `true`
	)

End BVH model replacement, will also refit or rebuild the bounding volume hierarchy.

Referenced by getObjectType().

◆ endUpdateModel()

int hpp::fcl::BVHModelBase::endUpdateModel	(	bool	refit = `true`,
		bool	bottomup = `true`
	)

End BVH model update, will also refit or rebuild the bounding volume hierarchy.

Referenced by getObjectType().

◆ getModelType()

BVHModelType hpp::fcl::BVHModelBase::getModelType ( ) const

inline

Model type described by the instance.

References hpp::fcl::BVH_MODEL_POINTCLOUD, hpp::fcl::BVH_MODEL_TRIANGLES, and hpp::fcl::BVH_MODEL_UNKNOWN.

◆ getObjectType()

OBJECT_TYPE hpp::fcl::BVHModelBase::getObjectType ( ) const

inlinevirtual

Get the object type: it is a BVH.

Reimplemented from hpp::fcl::CollisionGeometry.

References addSubModel(), addTriangle(), addVertex(), beginModel(), beginReplaceModel(), beginUpdateModel(), buildConvexRepresentation(), computeLocalAABB(), endModel(), endReplaceModel(), endUpdateModel(), makeParentRelative(), memUsage(), hpp::fcl::OT_BVH, replaceSubModel(), replaceTriangle(), replaceVertex(), updateSubModel(), updateTriangle(), and updateVertex().

◆ makeParentRelative()

virtual void hpp::fcl::BVHModelBase::makeParentRelative ( )

pure virtual

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.

Implemented in hpp::fcl::BVHModel< BV >.

Referenced by getObjectType().

◆ memUsage()

virtual int hpp::fcl::BVHModelBase::memUsage ( int msg ) const

pure virtual

Implemented in hpp::fcl::BVHModel< BV >.

Referenced by hpp::fcl::BVHModel< BV >::getNodeType(), and getObjectType().

◆ refitTree()

virtual int hpp::fcl::BVHModelBase::refitTree ( bool bottomup )

protectedpure virtual

Refit the bounding volume hierarchy.

Referenced by computeMomentofInertia(), and hpp::fcl::BVHModel< BV >::makeParentRelative().

◆ replaceSubModel()

int hpp::fcl::BVHModelBase::replaceSubModel ( const std::vector< Vec3f > & ps )

Replace a set of points in the old BVH model.

Referenced by getObjectType().

◆ replaceTriangle()

int hpp::fcl::BVHModelBase::replaceTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3
	)

Replace one triangle in the old BVH model.

Referenced by getObjectType().

◆ replaceVertex()

int hpp::fcl::BVHModelBase::replaceVertex ( const Vec3f & p )

Replace one point in the old BVH model.

Referenced by getObjectType().

◆ updateSubModel()

int hpp::fcl::BVHModelBase::updateSubModel ( const std::vector< Vec3f > & ps )

Update a set of points in the old BVH model.

Referenced by getObjectType().

◆ updateTriangle()

int hpp::fcl::BVHModelBase::updateTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3
	)

Update one triangle in the old BVH model.

Referenced by getObjectType().

◆ updateVertex()

int hpp::fcl::BVHModelBase::updateVertex ( const Vec3f & p )

Update one point in the old BVH model.

Referenced by getObjectType().

Member Data Documentation

◆ build_state

BVHBuildState hpp::fcl::BVHModelBase::build_state

The state of BVH building process.

◆ convex

boost::shared_ptr< ConvexBase > hpp::fcl::BVHModelBase::convex

Convex<Triangle> representation of this object.

◆ num_tris

int hpp::fcl::BVHModelBase::num_tris

Number of triangles.

Referenced by computeCOM(), computeMomentofInertia(), and computeVolume().

◆ num_tris_allocated

int hpp::fcl::BVHModelBase::num_tris_allocated

protected

◆ num_vertex_updated

int hpp::fcl::BVHModelBase::num_vertex_updated

protected

◆ num_vertices

int hpp::fcl::BVHModelBase::num_vertices

Number of points.

◆ num_vertices_allocated

int hpp::fcl::BVHModelBase::num_vertices_allocated

protected

◆ prev_vertices

Vec3f* hpp::fcl::BVHModelBase::prev_vertices

Geometry point data in previous frame.

Referenced by ~BVHModelBase().

◆ tri_indices

Triangle* hpp::fcl::BVHModelBase::tri_indices

Geometry triangle index data, will be NULL for point clouds.

Referenced by ~BVHModelBase().

◆ vertices

Vec3f* hpp::fcl::BVHModelBase::vertices

Geometry point data.

Referenced by ~BVHModelBase().

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BVHModelBase() [1/2]

◆ BVHModelBase() [2/2]

◆ ~BVHModelBase()

Member Function Documentation

◆ addSubModel() [1/2]

◆ addSubModel() [2/2]

◆ addTriangle()

◆ addVertex()

◆ allocateBVs()

◆ beginModel()

◆ beginReplaceModel()

◆ beginUpdateModel()

◆ buildConvexRepresentation()

◆ buildTree()

◆ computeCOM()

◆ computeLocalAABB()

◆ computeMomentofInertia()

◆ computeVolume()

◆ deleteBVs()

◆ endModel()

◆ endReplaceModel()

◆ endUpdateModel()

◆ getModelType()

◆ getObjectType()

◆ makeParentRelative()

◆ memUsage()

◆ refitTree()

◆ replaceSubModel()

◆ replaceTriangle()

◆ replaceVertex()

◆ updateSubModel()

◆ updateTriangle()

◆ updateVertex()

Member Data Documentation

◆ build_state

◆ convex

◆ num_tris

◆ num_tris_allocated

◆ num_vertex_updated

◆ num_vertices

◆ num_vertices_allocated

◆ prev_vertices

◆ tri_indices

◆ vertices