BVH_utility.h File Reference

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

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Namespaces
	hpp
	Main namespace.
	hpp::fcl

Functions
template<typename BV >
void	hpp::fcl::BVHExpand (BVHModel< BV > &model, const Variance3f *ucs, FCL_REAL r)
	Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node. More...
void	hpp::fcl::BVHExpand (BVHModel< OBB > &model, const Variance3f *ucs, FCL_REAL r)
	Expand the BVH bounding boxes according to the corresponding variance information, for OBB. More...
void	hpp::fcl::BVHExpand (BVHModel< RSS > &model, const Variance3f *ucs, FCL_REAL r)
	Expand the BVH bounding boxes according to the corresponding variance information, for RSS. More...
template<typename BV >
BVHModel< BV > *	hpp::fcl::BVHExtract (const BVHModel< BV > &model, const Transform3f &pose, const AABB &aabb)
	Extract the part of the BVHModel that is inside an AABB. More...
void	hpp::fcl::getCovariance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Matrix3f &M)
	Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles. More...
void	hpp::fcl::getRadiusAndOriginAndRectangleSize (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, const Matrix3f &axes, Vec3f &origin, FCL_REAL l[2], FCL_REAL &r)
	Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises. More...
void	hpp::fcl::getExtentAndCenter (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, Matrix3f &axes, Vec3f &center, Vec3f &extent)
	Compute the bounding volume extent and center for a set or subset of points, given the BV axises. More...
void	hpp::fcl::circumCircleComputation (const Vec3f &a, const Vec3f &b, const Vec3f &c, Vec3f &center, FCL_REAL &radius)
	Compute the center and radius for a triangle's circumcircle. More...
FCL_REAL	hpp::fcl::maximumDistance (Vec3f *ps, Vec3f *ps2, Triangle *ts, unsigned int *indices, int n, const Vec3f &query)
	Compute the maximum distance from a given center point to a point cloud. More...