A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...

#include <hpp/fcl/BVH/BVH_model.h>

Inheritance diagram for hpp::fcl::BVHModel< BV >:

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Collaboration diagram for hpp::fcl::BVHModel< BV >:

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Public Member Functions
BVHModelType	getModelType () const
	Model type described by the instance. More...

	BVHModel ()
	Constructing an empty BVH. More...

	BVHModel (const BVHModel &other)
	copy from another BVH More...

	~BVHModel ()
	deconstruction, delete mesh data related. More...

const BVNode< BV > &	getBV (int id) const
	We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here. More...

BVNode< BV > &	getBV (int id)
	Access the bv giving the its index. More...

int	getNumBVs () const
	Get the number of bv in the BVH. More...

OBJECT_TYPE	getObjectType () const
	Get the object type: it is a BVH. More...

NODE_TYPE	getNodeType () const
	Get the BV type: default is unknown. More...

void	computeLocalAABB ()
	Compute the AABB for the BVH, used for broad-phase collision. More...

int	beginModel (int num_tris=0, int num_vertices=0)
	Begin a new BVH model. More...

int	addVertex (const Vec3f &p)
	Add one point in the new BVH model. More...

int	addTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3)
	Add one triangle in the new BVH model. More...

int	addSubModel (const std::vector< Vec3f > &ps, const std::vector< Triangle > &ts)
	Add a set of triangles in the new BVH model. More...

int	addSubModel (const std::vector< Vec3f > &ps)
	Add a set of points in the new BVH model. More...

int	endModel ()
	End BVH model construction, will build the bounding volume hierarchy. More...

int	beginReplaceModel ()
	Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame) More...

int	replaceVertex (const Vec3f &p)
	Replace one point in the old BVH model. More...

int	replaceTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3)
	Replace one triangle in the old BVH model. More...

int	replaceSubModel (const std::vector< Vec3f > &ps)
	Replace a set of points in the old BVH model. More...

int	endReplaceModel (bool refit=true, bool bottomup=true)
	End BVH model replacement, will also refit or rebuild the bounding volume hierarchy. More...

int	beginUpdateModel ()
	Replace the geometry information of current frame (i.e. More...

int	updateVertex (const Vec3f &p)
	Update one point in the old BVH model. More...

int	updateTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3)
	Update one triangle in the old BVH model. More...

int	updateSubModel (const std::vector< Vec3f > &ps)
	Update a set of points in the old BVH model. More...

int	endUpdateModel (bool refit=true, bool bottomup=true)
	End BVH model update, will also refit or rebuild the bounding volume hierarchy. More...

int	memUsage (int msg) const
	Check the number of memory used. More...

void	makeParentRelative ()
	This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. More...

Vec3f	computeCOM () const
	compute center of mass More...

FCL_REAL	computeVolume () const
	compute the volume More...

Matrix3f	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

template<>
NODE_TYPE	getNodeType () const
	Specialization of getNodeType() for BVHModel with different BV types. More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

template<>
NODE_TYPE	getNodeType () const
	get the node type More...

Public Member Functions inherited from hpp::fcl::CollisionGeometry
	CollisionGeometry ()

virtual	~CollisionGeometry ()

void *	getUserData () const
	get user data in geometry More...

void	setUserData (void *data)
	set user data in geometry More...

bool	isOccupied () const HPP_FCL_DEPRECATED
	whether the object is completely occupied More...

bool	isFree () const HPP_FCL_DEPRECATED
	whether the object is completely free More...

bool	isUncertain () const HPP_FCL_DEPRECATED
	whether the object has some uncertainty More...

virtual Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

Public Attributes
Vec3f *	vertices
	Geometry point data. More...

Triangle *	tri_indices
	Geometry triangle index data, will be NULL for point clouds. More...

Vec3f *	prev_vertices
	Geometry point data in previous frame. More...

int	num_tris
	Number of triangles. More...

int	num_vertices
	Number of points. More...

BVHBuildState	build_state
	The state of BVH building process. More...

boost::shared_ptr< BVSplitterBase< BV > >	bv_splitter
	Split rule to split one BV node into two children. More...

boost::shared_ptr< BVFitterBase< BV > >	bv_fitter
	Fitting rule to fit a BV node to a set of geometry primitives. More...

Public Attributes inherited from hpp::fcl::CollisionGeometry
Vec3f	aabb_center
	AABB center in local coordinate. More...

FCL_REAL	aabb_radius
	AABB radius. More...

AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform. More...

void *	user_data
	pointer to user defined data specific to this object More...

FCL_REAL	cost_density
	collision cost for unit volume More...

FCL_REAL	threshold_occupied
	threshold for occupied ( >= is occupied) More...

FCL_REAL	threshold_free
	threshold for free (<= is free) More...

Detailed Description

template<typename BV>
class hpp::fcl::BVHModel< BV >

A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)

Constructor & Destructor Documentation

template<typename BV>

hpp::fcl::BVHModel< BV >::BVHModel ( )

inline

Constructing an empty BVH.

Referenced by hpp::fcl::BVHModel< OBBRSS >::BVHModel().

template<typename BV>

hpp::fcl::BVHModel< BV >::BVHModel ( const BVHModel< BV > & other )

copy from another BVH

template<typename BV>

hpp::fcl::BVHModel< BV >::~BVHModel ( )

inline

deconstruction, delete mesh data related.

Member Function Documentation

template<typename BV>

int hpp::fcl::BVHModel< BV >::addSubModel	(	const std::vector< Vec3f > &	ps,
		const std::vector< Triangle > &	ts
	)

Add a set of triangles in the new BVH model.

Referenced by hpp::fcl::generateBVHModel(), and hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::addSubModel ( const std::vector< Vec3f > & ps )

Add a set of points in the new BVH model.

template<typename BV>

int hpp::fcl::BVHModel< BV >::addTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3
	)

Add one triangle in the new BVH model.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::addVertex ( const Vec3f & p )

Add one point in the new BVH model.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::beginModel	(	int	num_tris = `0`,
		int	num_vertices = `0`
	)

Begin a new BVH model.

Referenced by hpp::fcl::generateBVHModel(), and hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::beginReplaceModel ( )

Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame)

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType(), and hpp::fcl::initialize().

template<typename BV>

int hpp::fcl::BVHModel< BV >::beginUpdateModel ( )

Replace the geometry information of current frame (i.e.

should have the same mesh topology with the previous frame). The current frame will be saved as the previous frame in prev_vertices.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

Vec3f hpp::fcl::BVHModel< BV >::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented from hpp::fcl::CollisionGeometry.

template<typename BV>

void hpp::fcl::BVHModel< BV >::computeLocalAABB ( )

virtual

Compute the AABB for the BVH, used for broad-phase collision.

Implements hpp::fcl::CollisionGeometry.

Referenced by hpp::fcl::generateBVHModel(), and hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

Matrix3f hpp::fcl::BVHModel< BV >::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

template<typename BV>

FCL_REAL hpp::fcl::BVHModel< BV >::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

template<typename BV>

int hpp::fcl::BVHModel< BV >::endModel ( )

End BVH model construction, will build the bounding volume hierarchy.

Referenced by hpp::fcl::generateBVHModel(), and hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::endReplaceModel	(	bool	refit = `true`,
		bool	bottomup = `true`
	)

End BVH model replacement, will also refit or rebuild the bounding volume hierarchy.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType(), and hpp::fcl::initialize().

template<typename BV>

int hpp::fcl::BVHModel< BV >::endUpdateModel	(	bool	refit = `true`,
		bool	bottomup = `true`
	)

End BVH model update, will also refit or rebuild the bounding volume hierarchy.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

const BVNode<BV>& hpp::fcl::BVHModel< BV >::getBV ( int id ) const

inline

We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here.

Access the bv giving the its index

Referenced by hpp::fcl::BVHExpand(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

template<typename BV>

BVNode<BV>& hpp::fcl::BVHModel< BV >::getBV ( int id )

inline

Access the bv giving the its index.

template<typename BV>

BVHModelType hpp::fcl::BVHModel< BV >::getModelType ( ) const

inline

Model type described by the instance.

Referenced by hpp::fcl::initialize(), and hpp::fcl::details::setupShapeMeshDistanceOrientedNode().

template<typename BV>

NODE_TYPE hpp::fcl::BVHModel< BV >::getNodeType ( ) const

inlinevirtual

Get the BV type: default is unknown.

Reimplemented from hpp::fcl::CollisionGeometry.

template<>

NODE_TYPE hpp::fcl::BVHModel< AABB >::getNodeType ( ) const

virtual

Specialization of getNodeType() for BVHModel with different BV types.

Reimplemented from hpp::fcl::CollisionGeometry.

template<>

NODE_TYPE hpp::fcl::BVHModel< OBB >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

template<>

NODE_TYPE hpp::fcl::BVHModel< RSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

template<>

NODE_TYPE hpp::fcl::BVHModel< kIOS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

template<>

NODE_TYPE hpp::fcl::BVHModel< OBBRSS >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

template<>

NODE_TYPE hpp::fcl::BVHModel< KDOP< 16 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

template<>

NODE_TYPE hpp::fcl::BVHModel< KDOP< 18 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

template<>

NODE_TYPE hpp::fcl::BVHModel< KDOP< 24 > >::getNodeType ( ) const

virtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

template<typename BV>

int hpp::fcl::BVHModel< BV >::getNumBVs ( ) const

inline

Get the number of bv in the BVH.

template<typename BV>

OBJECT_TYPE hpp::fcl::BVHModel< BV >::getObjectType ( ) const

inlinevirtual

Get the object type: it is a BVH.

Reimplemented from hpp::fcl::CollisionGeometry.

template<typename BV>

void hpp::fcl::BVHModel< BV >::makeParentRelative ( )

inline

This is a special acceleration: BVH_model default stores the BV's transform in world coordinate.

However, we can also store each BV's transform related to its parent BV node. When traversing the BVH, this can save one matrix transformation.

template<typename BV>

int hpp::fcl::BVHModel< BV >::memUsage ( int msg ) const

Check the number of memory used.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::replaceSubModel ( const std::vector< Vec3f > & ps )

Replace a set of points in the old BVH model.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType(), and hpp::fcl::initialize().

template<typename BV>

int hpp::fcl::BVHModel< BV >::replaceTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3
	)

Replace one triangle in the old BVH model.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::replaceVertex ( const Vec3f & p )

Replace one point in the old BVH model.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::updateSubModel ( const std::vector< Vec3f > & ps )

Update a set of points in the old BVH model.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::updateTriangle	(	const Vec3f &	p1,
		const Vec3f &	p2,
		const Vec3f &	p3
	)

Update one triangle in the old BVH model.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::updateVertex ( const Vec3f & p )

Update one point in the old BVH model.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getNodeType().

Member Data Documentation

template<typename BV>

BVHBuildState hpp::fcl::BVHModel< BV >::build_state

The state of BVH building process.

template<typename BV>

boost::shared_ptr<BVFitterBase<BV> > hpp::fcl::BVHModel< BV >::bv_fitter

Fitting rule to fit a BV node to a set of geometry primitives.

template<typename BV>

boost::shared_ptr<BVSplitterBase<BV> > hpp::fcl::BVHModel< BV >::bv_splitter

Split rule to split one BV node into two children.

template<typename BV>

int hpp::fcl::BVHModel< BV >::num_tris

Number of triangles.

Referenced by hpp::fcl::BVHModel< OBBRSS >::computeCOM(), hpp::fcl::BVHModel< OBBRSS >::computeMomentofInertia(), hpp::fcl::BVHModel< OBBRSS >::computeVolume(), hpp::fcl::BVHModel< OBBRSS >::getModelType(), and hpp::fcl::BVHModel< OBBRSS >::getNodeType().

template<typename BV>

int hpp::fcl::BVHModel< BV >::num_vertices

Number of points.

Referenced by hpp::fcl::BVHModel< OBBRSS >::getModelType(), hpp::fcl::BVHModel< OBBRSS >::getNodeType(), and hpp::fcl::initialize().

template<typename BV>

Vec3f* hpp::fcl::BVHModel< BV >::prev_vertices

Geometry point data in previous frame.

Referenced by hpp::fcl::BVHModel< OBBRSS >::~BVHModel().

template<typename BV>

Triangle* hpp::fcl::BVHModel< BV >::tri_indices

Geometry triangle index data, will be NULL for point clouds.

Referenced by hpp::fcl::BVHModel< OBBRSS >::computeCOM(), hpp::fcl::BVHModel< OBBRSS >::computeMomentofInertia(), hpp::fcl::BVHModel< OBBRSS >::computeVolume(), hpp::fcl::initialize(), hpp::fcl::details::setupShapeMeshDistanceOrientedNode(), hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance(), and hpp::fcl::BVHModel< OBBRSS >::~BVHModel().

template<typename BV>

Vec3f* hpp::fcl::BVHModel< BV >::vertices

Geometry point data.

Referenced by hpp::fcl::BVHExpand(), hpp::fcl::BVHModel< OBBRSS >::computeCOM(), hpp::fcl::BVHModel< OBBRSS >::computeMomentofInertia(), hpp::fcl::BVHModel< OBBRSS >::computeVolume(), hpp::fcl::initialize(), hpp::fcl::details::setupShapeMeshDistanceOrientedNode(), hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance(), and hpp::fcl::BVHModel< OBBRSS >::~BVHModel().

Public Member Functions

Public Attributes

Detailed Description

template<typename BV> class hpp::fcl::BVHModel< BV >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename BV>
class hpp::fcl::BVHModel< BV >