BV_fitter.h

Go to the documentation of this file.

/*
 * 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.
 */
 
#ifndef HPP_FCL_BV_FITTER_H
#define HPP_FCL_BV_FITTER_H
 
#include <hpp/fcl/BVH/BVH_internal.h>
#include <hpp/fcl/BV/kIOS.h>
#include <hpp/fcl/BV/OBBRSS.h>
#include <hpp/fcl/BV/AABB.h>
#include <iostream>
 
namespace hpp {
namespace fcl {
 
template <typename BV>
void fit(Vec3f* ps, unsigned int n, BV& bv) {
  for (unsigned int i = 0; i < n; ++i)  // TODO(jcarpent): vectorize
  {
    bv += ps[i];
  }
}
 
template <>
void fit<OBB>(Vec3f* ps, unsigned int n, OBB& bv);
 
template <>
void fit<RSS>(Vec3f* ps, unsigned int n, RSS& bv);
 
template <>
void fit<kIOS>(Vec3f* ps, unsigned int n, kIOS& bv);
 
template <>
void fit<OBBRSS>(Vec3f* ps, unsigned int n, OBBRSS& bv);
 
template <>
void fit<AABB>(Vec3f* ps, unsigned int n, AABB& bv);
 
template <typename BV>
class HPP_FCL_DLLAPI BVFitterTpl {
 public:
  virtual ~BVFitterTpl() {}
 
  void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_) {
    vertices = vertices_;
    prev_vertices = NULL;
    tri_indices = tri_indices_;
    type = type_;
  }
 
  void set(Vec3f* vertices_, Vec3f* prev_vertices_, Triangle* tri_indices_,
           BVHModelType type_) {
    vertices = vertices_;
    prev_vertices = prev_vertices_;
    tri_indices = tri_indices_;
    type = type_;
  }
 
  virtual BV fit(unsigned int* primitive_indices,
                 unsigned int num_primitives) = 0;
 
  void clear() {
    vertices = NULL;
    prev_vertices = NULL;
    tri_indices = NULL;
    type = BVH_MODEL_UNKNOWN;
  }
 
 protected:
  Vec3f* vertices;
  Vec3f* prev_vertices;
  Triangle* tri_indices;
  BVHModelType type;
};
 
template <typename BV>
class HPP_FCL_DLLAPI BVFitter : public BVFitterTpl<BV> {
  typedef BVFitterTpl<BV> Base;
 
 public:
  BV fit(unsigned int* primitive_indices, unsigned int num_primitives) {
    BV bv;
 
    if (type == BVH_MODEL_TRIANGLES)  
    {
      for (unsigned int i = 0; i < num_primitives; ++i) {
        Triangle t = tri_indices[primitive_indices[i]];
        bv += vertices[t[0]];
        bv += vertices[t[1]];
        bv += vertices[t[2]];
 
        if (prev_vertices)  
        {
          bv += prev_vertices[t[0]];
          bv += prev_vertices[t[1]];
          bv += prev_vertices[t[2]];
        }
      }
    } else if (type == BVH_MODEL_POINTCLOUD)  
    {
      for (unsigned int i = 0; i < num_primitives; ++i) {
        bv += vertices[primitive_indices[i]];
 
        if (prev_vertices)  
        {
          bv += prev_vertices[primitive_indices[i]];
        }
      }
    }
 
    return bv;
  }
 
 protected:
  using Base::prev_vertices;
  using Base::tri_indices;
  using Base::type;
  using Base::vertices;
};
 
template <>
class HPP_FCL_DLLAPI BVFitter<OBB> : public BVFitterTpl<OBB> {
 public:
  OBB fit(unsigned int* primitive_indices, unsigned int num_primitives);
};
 
template <>
class HPP_FCL_DLLAPI BVFitter<RSS> : public BVFitterTpl<RSS> {
 public:
  RSS fit(unsigned int* primitive_indices, unsigned int num_primitives);
};
 
template <>
class HPP_FCL_DLLAPI BVFitter<kIOS> : public BVFitterTpl<kIOS> {
 public:
  kIOS fit(unsigned int* primitive_indices, unsigned int num_primitives);
};
 
template <>
class HPP_FCL_DLLAPI BVFitter<OBBRSS> : public BVFitterTpl<OBBRSS> {
 public:
  OBBRSS fit(unsigned int* primitive_indices, unsigned int num_primitives);
};
 
template <>
class HPP_FCL_DLLAPI BVFitter<AABB> : public BVFitterTpl<AABB> {
 public:
  AABB fit(unsigned int* primitive_indices, unsigned int num_primitives);
};
 
}  // namespace fcl
 
}  // namespace hpp
 
#endif