Class for hierarchy tree structure. More...
#include <hpp/fcl/broadphase/hierarchy_tree.h>
Public Member Functions | |
| HierarchyTree (int bu_threshold_=16, int topdown_level_=0) | |
| Create hierarchy tree with suitable setting. More... | |
| ~HierarchyTree () | |
| void | init (std::vector< NodeType * > &leaves, int level=0) |
| Initialize the tree by a set of leaves using algorithm with a given level. More... | |
| NodeType * | insert (const BV &bv, void *data) |
| Insest a node. More... | |
| void | remove (NodeType *leaf) |
| Remove a leaf node. More... | |
| void | clear () |
| Clear the tree. More... | |
| bool | empty () const |
| Whether the tree is empty. More... | |
| void | update (NodeType *leaf, int lookahead_level=-1) |
| update one leaf node More... | |
| bool | update (NodeType *leaf, const BV &bv) |
| update the tree when the bounding volume of a given leaf has changed More... | |
| bool | update (NodeType *leaf, const BV &bv, const Vec3f &vel, FCL_REAL margin) |
| update one leaf's bounding volume, with prediction More... | |
| bool | update (NodeType *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 NodeType *root, std::vector< NodeType * > &leaves) const |
| extract all the leaves of the tree More... | |
| size_t | size () const |
| number of leaves in the tree More... | |
| NodeType * | getRoot () const |
| get the root of the tree More... | |
| NodeType *& | getRoot () |
| void | print (NodeType *root, int depth) |
| print the tree in a recursive way More... | |
| template<> | |
| bool | update (NodeBase< AABB > *leaf, const AABB &bv_, const Vec3f &vel, FCL_REAL margin) |
| template<> | |
| bool | update (NodeBase< AABB > *leaf, const AABB &bv_, const Vec3f &vel) |
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 | |
| NodeType * | root_node |
| size_t | n_leaves |
| unsigned int | opath |
| NodeType * | free_node |
| This is a one NodeType cache, the reason is that we need to remove a node and then add it again frequently. More... | |
| int | max_lookahead_level |
Class for hierarchy tree structure.
| fcl::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.
| fcl::HierarchyTree< BV >::~HierarchyTree | ( | ) |
| void fcl::HierarchyTree< BV >::balanceBottomup | ( | ) |
balance the tree from bottom
| void fcl::HierarchyTree< BV >::balanceIncremental | ( | int | iterations | ) |
balance the tree in an incremental way
References fcl::NodeBase< BV >::children, and fcl::NodeBase< BV >::isLeaf().
| void fcl::HierarchyTree< BV >::balanceTopdown | ( | ) |
balance the tree from top
| void fcl::HierarchyTree< BV >::clear | ( | ) |
Clear the tree.
| bool fcl::HierarchyTree< BV >::empty | ( | ) | const |
Whether the tree is empty.
| void fcl::HierarchyTree< BV >::extractLeaves | ( | const NodeType * | root, |
| std::vector< NodeType * > & | leaves | ||
| ) | const |
extract all the leaves of the tree
References fcl::NodeBase< BV >::children, and fcl::NodeBase< BV >::isLeaf().
| size_t fcl::HierarchyTree< BV >::getMaxDepth | ( | ) | const |
get the max depth of the tree
| size_t fcl::HierarchyTree< BV >::getMaxHeight | ( | ) | const |
get the max height of the tree
| HierarchyTree< BV >::NodeType * fcl::HierarchyTree< BV >::getRoot | ( | ) | const |
get the root of the tree
| HierarchyTree< BV >::NodeType *& fcl::HierarchyTree< BV >::getRoot | ( | ) |
| void fcl::HierarchyTree< BV >::init | ( | std::vector< NodeType * > & | leaves, |
| int | level = 0 |
||
| ) |
Initialize the tree by a set of leaves using algorithm with a given level.
| HierarchyTree< BV >::NodeType * fcl::HierarchyTree< BV >::insert | ( | const BV & | bv, |
| void * | data | ||
| ) |
Insest a node.
| void fcl::HierarchyTree< BV >::print | ( | NodeType * | root, |
| int | depth | ||
| ) |
print the tree in a recursive way
References fcl::NodeBase< BV >::bv, fcl::NodeBase< BV >::children, and fcl::NodeBase< BV >::isLeaf().
| void fcl::HierarchyTree< BV >::refit | ( | ) |
refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner
| void fcl::HierarchyTree< BV >::remove | ( | NodeType * | leaf | ) |
Remove a leaf node.
| size_t fcl::HierarchyTree< BV >::size | ( | ) | const |
number of leaves in the tree
| void fcl::HierarchyTree< BV >::update | ( | NodeType * | leaf, |
| int | lookahead_level = -1 |
||
| ) |
update one leaf node
References fcl::NodeBase< BV >::parent.
| bool fcl::HierarchyTree< BV >::update | ( | NodeType * | leaf, |
| const BV & | bv | ||
| ) |
update the tree when the bounding volume of a given leaf has changed
References fcl::NodeBase< BV >::bv.
| bool fcl::HierarchyTree< BV >::update | ( | NodeType * | leaf, |
| const BV & | bv, | ||
| const Vec3f & | vel, | ||
| FCL_REAL | margin | ||
| ) |
update one leaf's bounding volume, with prediction
References fcl::NodeBase< BV >::bv.
| bool fcl::HierarchyTree< BV >::update | ( | NodeType * | leaf, |
| const BV & | bv, | ||
| const Vec3f & | vel | ||
| ) |
update one leaf's bounding volume, with prediction
References fcl::NodeBase< BV >::bv.
| bool fcl::HierarchyTree< AABB >::update | ( | NodeBase< AABB > * | leaf, |
| const AABB & | bv_, | ||
| const Vec3f & | vel, | ||
| FCL_REAL | margin | ||
| ) |
| bool fcl::HierarchyTree< AABB >::update | ( | NodeBase< AABB > * | leaf, |
| const AABB & | bv_, | ||
| const Vec3f & | vel | ||
| ) |
| int fcl::HierarchyTree< BV >::bu_threshold |
decide the depth to use expensive bottom-up algorithm
|
protected |
This is a one NodeType cache, the reason is that we need to remove a node and then add it again frequently.
|
protected |
|
protected |
|
protected |
|
protected |
| int fcl::HierarchyTree< BV >::topdown_level |
decide which topdown algorithm to use
