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// Copyright (c) 2019 CNRS |
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// Authors: Joseph Mirabel |
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// |
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// |
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// This file is part of hpp-gui |
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// hpp-gui is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// hpp-gui is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// hpp-gui If not, see |
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// <http://www.gnu.org/licenses/>. |
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#ifndef HPP_GUI_COAL_PLUGIN_NODE_HH |
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#define HPP_GUI_COAL_PLUGIN_NODE_HH |
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#include <coal/BVH/BVH_model.h> |
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#include <coal/internal/BV_splitter.h> |
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#include <gepetto/viewer/node.h> |
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namespace hpp { |
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namespace gui { |
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typedef gepetto::viewer::Node Node; |
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DEF_CLASS_SMART_PTR(BVHDisplay) |
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class BVHDisplay : public Node { |
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public: |
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BVHDisplay(const std::string& filename, const std::string& name); |
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void setLevel(const int& level); |
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✗ |
const int& getLevel() const { return level_; } |
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void setColor(const osgVector4& color); |
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void init(coal::SplitMethodType splitMethod); |
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private: |
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typedef coal::OBB BoundingVolume; |
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typedef coal::BVHModel<BoundingVolume> BVH_t; |
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typedef coal::shared_ptr<BVH_t> BVHPtr_t; |
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void recursiveBuildTree(const BVH_t& bvh, int ibv, std::size_t level); |
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struct BVLevel { |
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// std::vector< ::osg::ShapeDrawableRefPtr > bvs; |
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std::vector< ::osg::BoxRefPtr> boxes; |
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::osg::GeodeRefPtr geode; |
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}; |
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const std::string filename_; |
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std::vector<BVLevel> levels_; |
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int level_; |
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}; |
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} // namespace gui |
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} // namespace hpp |
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#endif // HPP_GUI_COAL_PLUGIN_NODE_HH |
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