Class for hierarchy tree structure. More...

#include <hpp/fcl/broadphase/detail/hierarchy_tree.h>

Collaboration diagram for hpp::fcl::detail::HierarchyTree< BV >:

Public Types
typedef NodeBase< BV >	Node

Public Member Functions
	HierarchyTree (int bu_threshold_=16, int topdown_level_=0)
	Create hierarchy tree with suitable setting. bu_threshold decides the height of tree node to start bottom-up construction / optimization; topdown_level decides different methods to construct tree in topdown manner. lower level method constructs tree with better quality but is slower. More...

	~HierarchyTree ()

void	init (std::vector< Node * > &leaves, int level=0)
	Initialize the tree by a set of leaves using algorithm with a given level. More...

Node *	insert (const BV &bv, void *data)
	Insest a node. More...

void	remove (Node *leaf)
	Remove a leaf node. More...

void	clear ()
	Clear the tree. More...

bool	empty () const
	Whether the tree is empty. More...

void	update (Node *leaf, int lookahead_level=-1)
	Updates a `leaf` node. A use case is when the bounding volume of an object changes. Ensure every parent node has its bounding volume expand or shrink to fit the bounding volumes of its children. More...

bool	update (Node *leaf, const BV &bv)
	update the tree when the bounding volume of a given leaf has changed More...

bool	update (Node *leaf, const BV &bv, const Vec3f &vel, FCL_REAL margin)
	update one leaf's bounding volume, with prediction More...

bool	update (Node *leaf, const BV &bv, const Vec3f &vel)
	update one leaf's bounding volume, with prediction More...

size_t	getMaxHeight () const
	get the max height of the tree More...

size_t	getMaxDepth () const
	get the max depth of the tree More...

void	balanceBottomup ()
	balance the tree from bottom More...

void	balanceTopdown ()
	balance the tree from top More...

void	balanceIncremental (int iterations)
	balance the tree in an incremental way More...

void	refit ()
	refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner More...

void	extractLeaves (const Node root, std::vector< Node > &leaves) const
	extract all the leaves of the tree More...

size_t	size () const
	number of leaves in the tree More...

Node *	getRoot () const
	get the root of the tree More...

Node *&	getRoot ()

void	print (Node *root, int depth)
	print the tree in a recursive way More...

Public Attributes
int	topdown_level
	decide which topdown algorithm to use More...

int	bu_threshold
	decide the depth to use expensive bottom-up algorithm More...

Protected Attributes
Node *	root_node

size_t	n_leaves

unsigned int	opath

Node *	free_node

int	max_lookahead_level

Detailed Description

template<typename BV>
class hpp::fcl::detail::HierarchyTree< BV >

Class for hierarchy tree structure.

Member Typedef Documentation

◆ Node

template<typename BV >

typedef NodeBase<BV> hpp::fcl::detail::HierarchyTree< BV >::Node

Constructor & Destructor Documentation

◆ HierarchyTree()

template<typename BV >

hpp::fcl::detail::HierarchyTree< BV >::HierarchyTree	(	int	bu_threshold_ = `16`,
		int	topdown_level_ = `0`
	)

Create hierarchy tree with suitable setting. bu_threshold decides the height of tree node to start bottom-up construction / optimization; topdown_level decides different methods to construct tree in topdown manner. lower level method constructs tree with better quality but is slower.

◆ ~HierarchyTree()

template<typename BV >

hpp::fcl::detail::HierarchyTree< BV >::~HierarchyTree

Member Function Documentation

◆ balanceBottomup()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::balanceBottomup

balance the tree from bottom

◆ balanceIncremental()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::balanceIncremental ( int iterations )

balance the tree in an incremental way

◆ balanceTopdown()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::balanceTopdown

balance the tree from top

◆ clear()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::clear

Clear the tree.

◆ empty()

template<typename BV >

bool hpp::fcl::detail::HierarchyTree< BV >::empty

Whether the tree is empty.

◆ extractLeaves()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::extractLeaves	(	const Node *	root,
		std::vector< Node * > &	leaves
	)		const

extract all the leaves of the tree

◆ getMaxDepth()

template<typename BV >

size_t hpp::fcl::detail::HierarchyTree< BV >::getMaxDepth

get the max depth of the tree

◆ getMaxHeight()

template<typename BV >

size_t hpp::fcl::detail::HierarchyTree< BV >::getMaxHeight

get the max height of the tree

◆ getRoot() [1/2]

template<typename BV >

Node*& hpp::fcl::detail::HierarchyTree< BV >::getRoot ( )

◆ getRoot() [2/2]

template<typename BV >

HierarchyTree< BV >::Node *& hpp::fcl::detail::HierarchyTree< BV >::getRoot

get the root of the tree

◆ init()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::init	(	std::vector< Node * > &	leaves,
		int	level = `0`
	)

Initialize the tree by a set of leaves using algorithm with a given level.

◆ insert()

template<typename BV >

HierarchyTree< BV >::Node * hpp::fcl::detail::HierarchyTree< BV >::insert	(	const BV &	bv,
		void *	data
	)

Insest a node.

◆ print()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::print	(	Node *	root,
		int	depth
	)

print the tree in a recursive way

◆ refit()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::refit

refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner

◆ remove()

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::remove ( Node * leaf )

Remove a leaf node.

◆ size()

template<typename BV >

size_t hpp::fcl::detail::HierarchyTree< BV >::size

number of leaves in the tree

◆ update() [1/4]

template<typename BV >

bool hpp::fcl::detail::HierarchyTree< BV >::update	(	Node *	leaf,
		const BV &	bv
	)

update the tree when the bounding volume of a given leaf has changed

◆ update() [2/4]

template<typename BV >

bool hpp::fcl::detail::HierarchyTree< BV >::update	(	Node *	leaf,
		const BV &	bv,
		const Vec3f &	vel
	)

update one leaf's bounding volume, with prediction

◆ update() [3/4]

template<typename BV >

bool hpp::fcl::detail::HierarchyTree< BV >::update	(	Node *	leaf,
		const BV &	bv,
		const Vec3f &	vel,
		FCL_REAL	margin
	)

update one leaf's bounding volume, with prediction

◆ update() [4/4]

template<typename BV >

void hpp::fcl::detail::HierarchyTree< BV >::update	(	Node *	leaf,
		int	lookahead_level = `-1`
	)

Updates a leaf node. A use case is when the bounding volume of an object changes. Ensure every parent node has its bounding volume expand or shrink to fit the bounding volumes of its children.

Note: Strangely the structure of the tree may change even if the bounding volume of the leaf node does not change. It is just another valid tree of the same set of objects. This is because update() works by first removing leaf and then inserting leaf back. The structural change could be as simple as switching the order of two leaves if the sibling of the leaf is also a leaf. Or it could be more complicated if the sibling is an internal node.

Member Data Documentation

◆ bu_threshold

template<typename BV >

int hpp::fcl::detail::HierarchyTree< BV >::bu_threshold

decide the depth to use expensive bottom-up algorithm

◆ free_node

template<typename BV >

Node* hpp::fcl::detail::HierarchyTree< BV >::free_node

protected

This is a one Node cache, the reason is that we need to remove a node and then add it again frequently.

◆ max_lookahead_level

template<typename BV >

int hpp::fcl::detail::HierarchyTree< BV >::max_lookahead_level

protected

◆ n_leaves

template<typename BV >

size_t hpp::fcl::detail::HierarchyTree< BV >::n_leaves

protected

◆ opath

template<typename BV >

unsigned int hpp::fcl::detail::HierarchyTree< BV >::opath

protected

◆ root_node

template<typename BV >

Node* hpp::fcl::detail::HierarchyTree< BV >::root_node

protected

◆ topdown_level

template<typename BV >

int hpp::fcl::detail::HierarchyTree< BV >::topdown_level

decide which topdown algorithm to use

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

include/hpp/fcl/broadphase/detail/hierarchy_tree.h
include/hpp/fcl/broadphase/detail/hierarchy_tree-inl.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<typename BV> class hpp::fcl::detail::HierarchyTree< BV >

Member Typedef Documentation

◆ Node

Constructor & Destructor Documentation

◆ HierarchyTree()

◆ ~HierarchyTree()

Member Function Documentation

◆ balanceBottomup()

◆ balanceIncremental()

◆ balanceTopdown()

◆ clear()

◆ empty()

◆ extractLeaves()

◆ getMaxDepth()

◆ getMaxHeight()

◆ getRoot() [1/2]

◆ getRoot() [2/2]

◆ init()

◆ insert()

◆ print()

◆ refit()

◆ remove()

◆ size()

◆ update() [1/4]

◆ update() [2/4]

◆ update() [3/4]

◆ update() [4/4]

Member Data Documentation

◆ bu_threshold

◆ free_node

◆ max_lookahead_level

◆ n_leaves

◆ opath

◆ root_node

◆ topdown_level

template<typename BV>
class hpp::fcl::detail::HierarchyTree< BV >