38 #ifndef HPP_FCL_BVH_MODEL_H 39 #define HPP_FCL_BVH_MODEL_H 45 #include <boost/shared_ptr.hpp> 46 #include <boost/noncopyable.hpp> 84 boost::shared_ptr< ConvexBase >
convex;
89 if(num_tris && num_vertices)
128 int beginModel(
int num_tris = 0,
int num_vertices = 0);
137 int addSubModel(
const std::vector<Vec3f>& ps,
const std::vector<Triangle>& ts);
181 virtual int memUsage(
int msg)
const = 0;
193 const Triangle& tri = tri_indices[i];
194 FCL_REAL d_six_vol = (vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
196 com += (vertices[tri[0]] + vertices[tri[1]] + vertices[tri[2]]) * d_six_vol;
199 return com / (vol * 4);
207 const Triangle& tri = tri_indices[i];
208 FCL_REAL d_six_vol = (vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
220 C_canonical << 1/60.0, 1/120.0, 1/120.0,
221 1/120.0, 1/60.0, 1/120.0,
222 1/120.0, 1/120.0, 1/60.0;
226 const Triangle& tri = tri_indices[i];
227 const Vec3f& v1 = vertices[tri[0]];
228 const Vec3f& v2 = vertices[tri[1]];
229 const Vec3f& v3 = vertices[tri[2]];
230 Matrix3f A; A << v1.transpose(), v2.transpose(), v3.transpose();
231 C += A.derived().transpose() * C_canonical * A * (v1.cross(v2)).dot(v3);
234 return C.trace() * Matrix3f::Identity() - C;
245 virtual int refitTree(
bool bottomup) = 0;
254 template<
typename BV>
275 delete [] primitive_indices;
283 assert (
id < num_bvs);
290 assert (
id < num_bvs);
311 makeParentRelativeRecurse(0, I,
Vec3f());
318 int num_bvs_allocated;
319 unsigned int* primitive_indices;
334 int refitTree_topdown();
337 int refitTree_bottomup();
340 int recursiveBuildTree(
int bv_id,
int first_primitive,
int num_primitives);
343 int recursiveRefitTree_bottomup(
int bv_id);
347 void makeParentRelativeRecurse(
int bv_id,
Matrix3f& parent_axes,
const Vec3f& parent_c)
349 if(!bvs[bv_id].isLeaf())
351 makeParentRelativeRecurse(bvs[bv_id].first_child, parent_axes, bvs[bv_id].getCenter());
353 makeParentRelativeRecurse(bvs[bv_id].first_child + 1, parent_axes, bvs[bv_id].getCenter());
356 bvs[bv_id].
bv =
translate(bvs[bv_id].bv, -parent_c);
int updateSubModel(const std::vector< Vec3f > &ps)
Update a set of points in the old BVH model.
Vec3f * prev_vertices
Geometry point data in previous frame.
Definition: BVH_model.h:72
virtual bool allocateBVs()=0
int replaceSubModel(const std::vector< Vec3f > &ps)
Replace a set of points in the old BVH model.
virtual void makeParentRelative()=0
This is a special acceleration: BVH_model default stores the BV's transform in world coordinate...
FCL_REAL computeVolume() const
compute the volume
Definition: BVH_model.h:202
OBJECT_TYPE
object type: BVH (mesh, points), basic geometry, octree
Definition: collision_object.h:53
Main namespace.
Definition: AABB.h:43
BVNode< BV > & getBV(int id)
Access the bv giving the its index.
Definition: BVH_model.h:288
int num_tris_allocated
Definition: BVH_model.h:247
Definition: collision_object.h:56
BV bv
bounding volume storing the geometry
Definition: BV_node.h:90
Definition: BVH_internal.h:79
int addTriangle(const Vec3f &p1, const Vec3f &p2, const Vec3f &p3)
Add one triangle in the new BVH model.
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:74
int addSubModel(const std::vector< Vec3f > &ps, const std::vector< Triangle > &ts)
Add a set of triangles in the new BVH model.
virtual int memUsage(int msg) const =0
int endUpdateModel(bool refit=true, bool bottomup=true)
End BVH model update, will also refit or rebuild the bounding volume hierarchy.
int updateVertex(const Vec3f &p)
Update one point in the old BVH model.
int num_tris
Number of triangles.
Definition: BVH_model.h:75
boost::shared_ptr< ConvexBase > convex
Convex<Triangle> representation of this object.
Definition: BVH_model.h:84
Definition: BVH_internal.h:54
A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewe...
Definition: BVH_model.h:62
int addVertex(const Vec3f &p)
Add one point in the new BVH model.
KDOP< N > translate(const KDOP< N > &bv, const Vec3f &t)
translate the KDOP BV
int replaceTriangle(const Vec3f &p1, const Vec3f &p2, const Vec3f &p3)
Replace one triangle in the old BVH model.
boost::shared_ptr< BVFitter< BV > > bv_fitter
Fitting rule to fit a BV node to a set of geometry primitives.
Definition: BVH_model.h:263
Vec3f computeCOM() const
compute center of mass
Definition: BVH_model.h:187
unknown model type
Definition: BVH_internal.h:80
OBJECT_TYPE getObjectType() const
Get the object type: it is a BVH.
Definition: BVH_model.h:122
virtual NODE_TYPE getNodeType() const
get the node type
Definition: collision_object.h:78
int getNumBVs() const
Get the number of bv in the BVH.
Definition: BVH_model.h:295
Triangle * tri_indices
Geometry triangle index data, will be NULL for point clouds.
Definition: BVH_model.h:69
int replaceVertex(const Vec3f &p)
Replace one point in the old BVH model.
BVHBuildState
States for BVH construction empty->begun->processed ->replace_begun->processed -> ...
Definition: BVH_internal.h:52
Vec3f * vertices
Geometry point data.
Definition: BVH_model.h:66
double FCL_REAL
Definition: data_types.h:68
void buildConvexRepresentation(bool share_memory)
Build this Convex<Triangle> representation of this model.
int num_vertex_updated
Definition: BVH_model.h:249
int beginReplaceModel()
Replace the geometry information of current frame (i.e. should have the same mesh topology with the p...
BVHModelType getModelType() const
Model type described by the instance.
Definition: BVH_model.h:87
int updateTriangle(const Vec3f &p1, const Vec3f &p2, const Vec3f &p3)
Update one triangle in the old BVH model.
BVHModelType
BVH model type.
Definition: BVH_internal.h:77
const BVNode< BV > & getBV(int id) const
We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some...
Definition: BVH_model.h:281
A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and...
Definition: BV_node.h:87
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: BVH_model.h:255
void makeParentRelative()
This is a special acceleration: BVH_model default stores the BV's transform in world coordinate...
Definition: BVH_model.h:308
int endReplaceModel(bool refit=true, bool bottomup=true)
End BVH model replacement, will also refit or rebuild the bounding volume hierarchy.
~BVHModel()
deconstruction, delete mesh data related.
Definition: BVH_model.h:272
int num_vertices_allocated
Definition: BVH_model.h:248
Triangle with 3 indices for points.
Definition: data_types.h:77
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, capsule, cone, cylinder, convex, plane, triangle), and octree
Definition: collision_object.h:56
NODE_TYPE getNodeType() const
Get the BV type: default is unknown.
Definition: BVH_model.h:301
Matrix3f computeMomentofInertia() const
compute the inertia matrix, related to the origin
Definition: BVH_model.h:215
Definition: collision_object.h:53
BVHBuildState build_state
The state of BVH building process.
Definition: BVH_model.h:81
The class for the default algorithm fitting a bounding volume to a set of points. ...
Definition: BVH_model.h:58
A class describing the split rule that splits each BV node.
Definition: BVH_model.h:59
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:73
boost::shared_ptr< BVSplitter< BV > > bv_splitter
Split rule to split one BV node into two children.
Definition: BVH_model.h:260
The geometry for the object for collision or distance computation.
Definition: collision_object.h:63
virtual ~BVHModelBase()
deconstruction, delete mesh data related.
Definition: BVH_model.h:114
triangle model
Definition: BVH_internal.h:81
virtual void deleteBVs()=0
virtual int buildTree()=0
Build the bounding volume hierarchy.
int num_vertices
Number of points.
Definition: BVH_model.h:78
int beginUpdateModel()
Replace the geometry information of current frame (i.e. should have the same mesh topology with the p...
virtual int refitTree(bool bottomup)=0
Refit the bounding volume hierarchy.
void computeLocalAABB()
Compute the AABB for the BVH, used for broad-phase collision.
int beginModel(int num_tris=0, int num_vertices=0)
Begin a new BVH model.
BVHModelBase()
Constructing an empty BVH.
Definition: BVH_model.h:98
int endModel()
End BVH model construction, will build the bounding volume hierarchy.