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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	src/BVH/BV_splitter.cpp	Lines:	109	120	90.8 %
Date:	2024-02-09 12:57:42	Branches:	36	84	42.9 %


/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */

#include <hpp/fcl/internal/BV_splitter.h>

namespace hpp {
namespace fcl {

template <typename BV>
void computeSplitVector(const BV& bv, Vec3f& split_vector) {
  split_vector = bv.axes.col(0);
}

template <>
void computeSplitVector<kIOS>(const kIOS& bv, Vec3f& split_vector) {
  /*
    switch(bv.num_spheres)
    {
    case 1:
    split_vector = Vec3f(1, 0, 0);
    break;
    case 3:
    {
    Vec3f v[3];
    v[0] = bv.spheres[1].o - bv.spheres[0].o;
    v[0].normalize();
    generateCoordinateSystem(v[0], v[1], v[2]);
    split_vector = v[1];
    }
    break;
    case 5:
    {
    Vec3f v[2];
    v[0] = bv.spheres[1].o - bv.spheres[0].o;
    v[1] = bv.spheres[3].o - bv.spheres[0].o;
    split_vector = v[0].cross(v[1]);
    split_vector.normalize();
    }
    break;
    default:
    ;
    }
  */
  split_vector = bv.obb.axes.col(0);
}

template <>
void computeSplitVector<OBBRSS>(const OBBRSS& bv, Vec3f& split_vector) {
  split_vector = bv.obb.axes.col(0);
}

template <typename BV>
void computeSplitValue_bvcenter(const BV& bv, FCL_REAL& split_value) {
  Vec3f center = bv.center();
  split_value = center[0];
}

template <typename BV>
void computeSplitValue_mean(const BV&, Vec3f* vertices, Triangle* triangles,
                            unsigned int* primitive_indices,
                            unsigned int num_primitives, BVHModelType type,
                            const Vec3f& split_vector, FCL_REAL& split_value) {
  if (type == BVH_MODEL_TRIANGLES) {
    Vec3f c(Vec3f::Zero());

    for (unsigned int i = 0; i < num_primitives; ++i) {
      const Triangle& t = triangles[primitive_indices[i]];
      const Vec3f& p1 = vertices[t[0]];
      const Vec3f& p2 = vertices[t[1]];
      const Vec3f& p3 = vertices[t[2]];

      c += p1 + p2 + p3;
    }
    split_value = c.dot(split_vector) / (3 * num_primitives);
  } else if (type == BVH_MODEL_POINTCLOUD) {
    FCL_REAL sum = 0;
    for (unsigned int i = 0; i < num_primitives; ++i) {
      const Vec3f& p = vertices[primitive_indices[i]];
      sum += p.dot(split_vector);
    }

    split_value = sum / num_primitives;
  }
}

template <typename BV>
void computeSplitValue_median(const BV&, Vec3f* vertices, Triangle* triangles,
                              unsigned int* primitive_indices,
                              unsigned int num_primitives, BVHModelType type,
                              const Vec3f& split_vector,
                              FCL_REAL& split_value) {
  std::vector<FCL_REAL> proj(num_primitives);

  if (type == BVH_MODEL_TRIANGLES) {
    for (unsigned int i = 0; i < num_primitives; ++i) {
      const Triangle& t = triangles[primitive_indices[i]];
      const Vec3f& p1 = vertices[t[0]];
      const Vec3f& p2 = vertices[t[1]];
      const Vec3f& p3 = vertices[t[2]];
      Vec3f centroid3(p1[0] + p2[0] + p3[0], p1[1] + p2[1] + p3[1],
                      p1[2] + p2[2] + p3[2]);

      proj[i] = centroid3.dot(split_vector) / 3;
    }
  } else if (type == BVH_MODEL_POINTCLOUD) {
    for (unsigned int i = 0; i < num_primitives; ++i) {
      const Vec3f& p = vertices[primitive_indices[i]];
      Vec3f v(p[0], p[1], p[2]);
      proj[i] = v.dot(split_vector);
    }
  }

  std::sort(proj.begin(), proj.end());

  if (num_primitives % 2 == 1) {
    split_value = proj[(num_primitives - 1) / 2];
  } else {
    split_value = (proj[num_primitives / 2] + proj[num_primitives / 2 - 1]) / 2;
  }
}

template <>
void BVSplitter<OBB>::computeRule_bvcenter(const OBB& bv, unsigned int*,
                                           unsigned int) {
  computeSplitVector<OBB>(bv, split_vector);
  computeSplitValue_bvcenter<OBB>(bv, split_value);
}

template <>
void BVSplitter<OBB>::computeRule_mean(const OBB& bv,
                                       unsigned int* primitive_indices,
                                       unsigned int num_primitives) {
  computeSplitVector<OBB>(bv, split_vector);
  computeSplitValue_mean<OBB>(bv, vertices, tri_indices, primitive_indices,
                              num_primitives, type, split_vector, split_value);
}

template <>
void BVSplitter<OBB>::computeRule_median(const OBB& bv,
                                         unsigned int* primitive_indices,
                                         unsigned int num_primitives) {
  computeSplitVector<OBB>(bv, split_vector);
  computeSplitValue_median<OBB>(bv, vertices, tri_indices, primitive_indices,
                                num_primitives, type, split_vector,
                                split_value);
}

template <>
void BVSplitter<RSS>::computeRule_bvcenter(const RSS& bv, unsigned int*,
                                           unsigned int) {
  computeSplitVector<RSS>(bv, split_vector);
  computeSplitValue_bvcenter<RSS>(bv, split_value);
}

template <>
void BVSplitter<RSS>::computeRule_mean(const RSS& bv,
                                       unsigned int* primitive_indices,
                                       unsigned int num_primitives) {
  computeSplitVector<RSS>(bv, split_vector);
  computeSplitValue_mean<RSS>(bv, vertices, tri_indices, primitive_indices,
                              num_primitives, type, split_vector, split_value);
}

template <>
void BVSplitter<RSS>::computeRule_median(const RSS& bv,
                                         unsigned int* primitive_indices,
                                         unsigned int num_primitives) {
  computeSplitVector<RSS>(bv, split_vector);
  computeSplitValue_median<RSS>(bv, vertices, tri_indices, primitive_indices,
                                num_primitives, type, split_vector,
                                split_value);
}

template <>
void BVSplitter<kIOS>::computeRule_bvcenter(const kIOS& bv, unsigned int*,
                                            unsigned int) {
  computeSplitVector<kIOS>(bv, split_vector);
  computeSplitValue_bvcenter<kIOS>(bv, split_value);
}

template <>
void BVSplitter<kIOS>::computeRule_mean(const kIOS& bv,
                                        unsigned int* primitive_indices,
                                        unsigned int num_primitives) {
  computeSplitVector<kIOS>(bv, split_vector);
  computeSplitValue_mean<kIOS>(bv, vertices, tri_indices, primitive_indices,
                               num_primitives, type, split_vector, split_value);
}

template <>
void BVSplitter<kIOS>::computeRule_median(const kIOS& bv,
                                          unsigned int* primitive_indices,
                                          unsigned int num_primitives) {
  computeSplitVector<kIOS>(bv, split_vector);
  computeSplitValue_median<kIOS>(bv, vertices, tri_indices, primitive_indices,
                                 num_primitives, type, split_vector,
                                 split_value);
}

template <>
void BVSplitter<OBBRSS>::computeRule_bvcenter(const OBBRSS& bv, unsigned int*,
                                              unsigned int) {
  computeSplitVector<OBBRSS>(bv, split_vector);
  computeSplitValue_bvcenter<OBBRSS>(bv, split_value);
}

template <>
void BVSplitter<OBBRSS>::computeRule_mean(const OBBRSS& bv,
                                          unsigned int* primitive_indices,
                                          unsigned int num_primitives) {
  computeSplitVector<OBBRSS>(bv, split_vector);
  computeSplitValue_mean<OBBRSS>(bv, vertices, tri_indices, primitive_indices,
                                 num_primitives, type, split_vector,
                                 split_value);
}

template <>
void BVSplitter<OBBRSS>::computeRule_median(const OBBRSS& bv,
                                            unsigned int* primitive_indices,
                                            unsigned int num_primitives) {
  computeSplitVector<OBBRSS>(bv, split_vector);
  computeSplitValue_median<OBBRSS>(bv, vertices, tri_indices, primitive_indices,
                                   num_primitives, type, split_vector,
                                   split_value);
}

template <>
bool BVSplitter<OBB>::apply(const Vec3f& q) const {
  return split_vector.dot(Vec3f(q[0], q[1], q[2])) > split_value;
}

template <>
bool BVSplitter<RSS>::apply(const Vec3f& q) const {
  return split_vector.dot(Vec3f(q[0], q[1], q[2])) > split_value;
}

template <>
bool BVSplitter<kIOS>::apply(const Vec3f& q) const {
  return split_vector.dot(Vec3f(q[0], q[1], q[2])) > split_value;
}

template <>
bool BVSplitter<OBBRSS>::apply(const Vec3f& q) const {
  return split_vector.dot(Vec3f(q[0], q[1], q[2])) > split_value;
}

template class BVSplitter<RSS>;
template class BVSplitter<OBBRSS>;
template class BVSplitter<OBB>;
template class BVSplitter<kIOS>;

}  // namespace fcl

}  // namespace hpp


Generated by: GCOVR (Version 4.2)

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 <hpp/fcl/internal/BV_splitter.h>
39
40			namespace hpp {
41			namespace fcl {
42
43			template <typename BV>
44		1129992	void computeSplitVector(const BV& bv, Vec3f& split_vector) {
45	✓✗	1129992	split_vector = bv.axes.col(0);
46		1129992	}
47
48			template <>
49		138119	void computeSplitVector<kIOS>(const kIOS& bv, Vec3f& split_vector) {
50			/*
51			switch(bv.num_spheres)
52			{
53			case 1:
54			split_vector = Vec3f(1, 0, 0);
55			break;
56			case 3:
57			{
58			Vec3f v[3];
59			v[0] = bv.spheres[1].o - bv.spheres[0].o;
60			v[0].normalize();
61			generateCoordinateSystem(v[0], v[1], v[2]);
62			split_vector = v[1];
63			}
64			break;
65			case 5:
66			{
67			Vec3f v[2];
68			v[0] = bv.spheres[1].o - bv.spheres[0].o;
69			v[1] = bv.spheres[3].o - bv.spheres[0].o;
70			split_vector = v[0].cross(v[1]);
71			split_vector.normalize();
72			}
73			break;
74			default:
75			;
76			}
77			*/
78	✓✗	138119	split_vector = bv.obb.axes.col(0);
79		138119	}
80
81			template <>
82		1012716	void computeSplitVector<OBBRSS>(const OBBRSS& bv, Vec3f& split_vector) {
83	✓✗	1012716	split_vector = bv.obb.axes.col(0);
84		1012716	}
85
86			template <typename BV>
87		541848	void computeSplitValue_bvcenter(const BV& bv, FCL_REAL& split_value) {
88	✓✗	541848	Vec3f center = bv.center();
89	✓✗	541848	split_value = center[0];
90		541848	}
91
92			template <typename BV>
93		2403722	void computeSplitValue_mean(const BV&, Vec3f* vertices, Triangle* triangles,
94			unsigned int* primitive_indices,
95			unsigned int num_primitives, BVHModelType type,
96			const Vec3f& split_vector, FCL_REAL& split_value) {
97	✓✗	2403722	if (type == BVH_MODEL_TRIANGLES) {
98	✓✗✓✗	2403722	Vec3f c(Vec3f::Zero());
99
100	✓✓	15385106	for (unsigned int i = 0; i < num_primitives; ++i) {
101		12981384	const Triangle& t = triangles[primitive_indices[i]];
102		12981384	const Vec3f& p1 = vertices[t[0]];
103		12981384	const Vec3f& p2 = vertices[t[1]];
104		12981384	const Vec3f& p3 = vertices[t[2]];
105
106	✓✗✓✗ ✓✗	12981384	c += p1 + p2 + p3;
107			}
108	✓✗	2403722	split_value = c.dot(split_vector) / (3 * num_primitives);
109			} else if (type == BVH_MODEL_POINTCLOUD) {
110			FCL_REAL sum = 0;
111			for (unsigned int i = 0; i < num_primitives; ++i) {
112			const Vec3f& p = vertices[primitive_indices[i]];
113			sum += p.dot(split_vector);
114			}
115
116			split_value = sum / num_primitives;
117			}
118		2403722	}
119
120			template <typename BV>
121		486092	void computeSplitValue_median(const BV&, Vec3f* vertices, Triangle* triangles,
122			unsigned int* primitive_indices,
123			unsigned int num_primitives, BVHModelType type,
124			const Vec3f& split_vector,
125			FCL_REAL& split_value) {
126	✓✗	972184	std::vector<FCL_REAL> proj(num_primitives);
127
128	✓✗	486092	if (type == BVH_MODEL_TRIANGLES) {
129	✓✓	3378974	for (unsigned int i = 0; i < num_primitives; ++i) {
130		2892882	const Triangle& t = triangles[primitive_indices[i]];
131		2892882	const Vec3f& p1 = vertices[t[0]];
132		2892882	const Vec3f& p2 = vertices[t[1]];
133		2892882	const Vec3f& p3 = vertices[t[2]];
134	✓✗✓✗ ✓✗✓✗ ✓✗✓✗	2892882	Vec3f centroid3(p1[0] + p2[0] + p3[0], p1[1] + p2[1] + p3[1],
135	✓✗✓✗ ✓✗✓✗	2892882	p1[2] + p2[2] + p3[2]);
136
137	✓✗	2892882	proj[i] = centroid3.dot(split_vector) / 3;
138			}
139			} else if (type == BVH_MODEL_POINTCLOUD) {
140			for (unsigned int i = 0; i < num_primitives; ++i) {
141			const Vec3f& p = vertices[primitive_indices[i]];
142			Vec3f v(p[0], p[1], p[2]);
143			proj[i] = v.dot(split_vector);
144			}
145			}
146
147	✓✗	486092	std::sort(proj.begin(), proj.end());
148
149	✓✓	486092	if (num_primitives % 2 == 1) {
150		305462	split_value = proj[(num_primitives - 1) / 2];
151			} else {
152		180630	split_value = (proj[num_primitives / 2] + proj[num_primitives / 2 - 1]) / 2;
153			}
154		486092	}
155
156			template <>
157		88424	void BVSplitter<OBB>::computeRule_bvcenter(const OBB& bv, unsigned int*,
158			unsigned int) {
159		88424	computeSplitVector<OBB>(bv, split_vector);
160		88424	computeSplitValue_bvcenter<OBB>(bv, split_value);
161		88424	}
162
163			template <>
164		110639	void BVSplitter<OBB>::computeRule_mean(const OBB& bv,
165			unsigned int* primitive_indices,
166			unsigned int num_primitives) {
167		110639	computeSplitVector<OBB>(bv, split_vector);
168		110639	computeSplitValue_mean<OBB>(bv, vertices, tri_indices, primitive_indices,
169		110639	num_primitives, type, split_vector, split_value);
170		110639	}
171
172			template <>
173		88424	void BVSplitter<OBB>::computeRule_median(const OBB& bv,
174			unsigned int* primitive_indices,
175			unsigned int num_primitives) {
176		88424	computeSplitVector<OBB>(bv, split_vector);
177		88424	computeSplitValue_median<OBB>(bv, vertices, tri_indices, primitive_indices,
178		88424	num_primitives, type, split_vector,
179		88424	split_value);
180		88424	}
181
182			template <>
183		98004	void BVSplitter<RSS>::computeRule_bvcenter(const RSS& bv, unsigned int*,
184			unsigned int) {
185		98004	computeSplitVector<RSS>(bv, split_vector);
186		98004	computeSplitValue_bvcenter<RSS>(bv, split_value);
187		98004	}
188
189			template <>
190		109379	void BVSplitter<RSS>::computeRule_mean(const RSS& bv,
191			unsigned int* primitive_indices,
192			unsigned int num_primitives) {
193		109379	computeSplitVector<RSS>(bv, split_vector);
194		109379	computeSplitValue_mean<RSS>(bv, vertices, tri_indices, primitive_indices,
195		109379	num_primitives, type, split_vector, split_value);
196		109379	}
197
198			template <>
199		70126	void BVSplitter<RSS>::computeRule_median(const RSS& bv,
200			unsigned int* primitive_indices,
201			unsigned int num_primitives) {
202		70126	computeSplitVector<RSS>(bv, split_vector);
203		70126	computeSplitValue_median<RSS>(bv, vertices, tri_indices, primitive_indices,
204		70126	num_primitives, type, split_vector,
205		70126	split_value);
206		70126	}
207
208			template <>
209		42248	void BVSplitter<kIOS>::computeRule_bvcenter(const kIOS& bv, unsigned int*,
210			unsigned int) {
211		42248	computeSplitVector<kIOS>(bv, split_vector);
212		42248	computeSplitValue_bvcenter<kIOS>(bv, split_value);
213		42248	}
214
215			template <>
216		53623	void BVSplitter<kIOS>::computeRule_mean(const kIOS& bv,
217			unsigned int* primitive_indices,
218			unsigned int num_primitives) {
219		53623	computeSplitVector<kIOS>(bv, split_vector);
220		53623	computeSplitValue_mean<kIOS>(bv, vertices, tri_indices, primitive_indices,
221		53623	num_primitives, type, split_vector, split_value);
222		53623	}
223
224			template <>
225		42248	void BVSplitter<kIOS>::computeRule_median(const kIOS& bv,
226			unsigned int* primitive_indices,
227			unsigned int num_primitives) {
228		42248	computeSplitVector<kIOS>(bv, split_vector);
229		42248	computeSplitValue_median<kIOS>(bv, vertices, tri_indices, primitive_indices,
230		42248	num_primitives, type, split_vector,
231		42248	split_value);
232		42248	}
233
234			template <>
235		42248	void BVSplitter<OBBRSS>::computeRule_bvcenter(const OBBRSS& bv, unsigned int*,
236			unsigned int) {
237		42248	computeSplitVector<OBBRSS>(bv, split_vector);
238		42248	computeSplitValue_bvcenter<OBBRSS>(bv, split_value);
239		42248	}
240
241			template <>
242		928220	void BVSplitter<OBBRSS>::computeRule_mean(const OBBRSS& bv,
243			unsigned int* primitive_indices,
244			unsigned int num_primitives) {
245		928220	computeSplitVector<OBBRSS>(bv, split_vector);
246		928220	computeSplitValue_mean<OBBRSS>(bv, vertices, tri_indices, primitive_indices,
247		928220	num_primitives, type, split_vector,
248		928220	split_value);
249		928220	}
250
251			template <>
252		42248	void BVSplitter<OBBRSS>::computeRule_median(const OBBRSS& bv,
253			unsigned int* primitive_indices,
254			unsigned int num_primitives) {
255		42248	computeSplitVector<OBBRSS>(bv, split_vector);
256		42248	computeSplitValue_median<OBBRSS>(bv, vertices, tri_indices, primitive_indices,
257		42248	num_primitives, type, split_vector,
258		42248	split_value);
259		42248	}
260
261			template <>
262		1685027	bool BVSplitter<OBB>::apply(const Vec3f& q) const {
263	✓✗	1685027	return split_vector.dot(Vec3f(q[0], q[1], q[2])) > split_value;
264			}
265
266			template <>
267		1623891	bool BVSplitter<RSS>::apply(const Vec3f& q) const {
268	✓✗	1623891	return split_vector.dot(Vec3f(q[0], q[1], q[2])) > split_value;
269			}
270
271			template <>
272		809058	bool BVSplitter<kIOS>::apply(const Vec3f& q) const {
273	✓✗	809058	return split_vector.dot(Vec3f(q[0], q[1], q[2])) > split_value;
274			}
275
276			template <>
277		4802463	bool BVSplitter<OBBRSS>::apply(const Vec3f& q) const {
278	✓✗	4802463	return split_vector.dot(Vec3f(q[0], q[1], q[2])) > split_value;
279			}
280
281			template class BVSplitter<RSS>;
282			template class BVSplitter<OBBRSS>;
283			template class BVSplitter<OBB>;
284			template class BVSplitter<kIOS>;
285
286			} // namespace fcl
287
288			} // namespace hpp