hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
BVH_model.h
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35 
38 #ifndef HPP_FCL_BVH_MODEL_H
39 #define HPP_FCL_BVH_MODEL_H
40 
43 #include <hpp/fcl/BV/BV_node.h>
44 #include <vector>
45 #include <boost/shared_ptr.hpp>
46 #include <boost/noncopyable.hpp>
47 
48 namespace hpp
49 {
50 namespace fcl
51 {
52 
55 
56 class ConvexBase;
57 
58 template <typename BV> class BVFitter;
59 template <typename BV> class BVSplitter;
60 
63 {
64 public:
67 
70 
73 
75  int num_tris;
76 
79 
82 
84  boost::shared_ptr< ConvexBase > convex;
85 
88  {
89  if(num_tris && num_vertices)
90  return BVH_MODEL_TRIANGLES;
91  else if(num_vertices)
92  return BVH_MODEL_POINTCLOUD;
93  else
94  return BVH_MODEL_UNKNOWN;
95  }
96 
98  BVHModelBase() : vertices(NULL),
99  tri_indices(NULL),
100  prev_vertices(NULL),
101  num_tris(0),
102  num_vertices(0),
103  build_state(BVH_BUILD_STATE_EMPTY),
107  {
108  }
109 
111  BVHModelBase(const BVHModelBase& other);
112 
114  virtual ~BVHModelBase ()
115  {
116  delete [] vertices;
117  delete [] tri_indices;
118  delete [] prev_vertices;
119  }
120 
122  OBJECT_TYPE getObjectType() const { return OT_BVH; }
123 
125  void computeLocalAABB();
126 
128  int beginModel(int num_tris = 0, int num_vertices = 0);
129 
131  int addVertex(const Vec3f& p);
132 
134  int addTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);
135 
137  int addSubModel(const std::vector<Vec3f>& ps, const std::vector<Triangle>& ts);
138 
140  int addSubModel(const std::vector<Vec3f>& ps);
141 
143  int endModel();
144 
146  int beginReplaceModel();
147 
149  int replaceVertex(const Vec3f& p);
150 
152  int replaceTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);
153 
155  int replaceSubModel(const std::vector<Vec3f>& ps);
156 
158  int endReplaceModel(bool refit = true, bool bottomup = true);
159 
162  int beginUpdateModel();
163 
165  int updateVertex(const Vec3f& p);
166 
168  int updateTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);
169 
171  int updateSubModel(const std::vector<Vec3f>& ps);
172 
174  int endUpdateModel(bool refit = true, bool bottomup = true);
175 
179  void buildConvexRepresentation(bool share_memory);
180 
181  virtual int memUsage(int msg) const = 0;
182 
185  virtual void makeParentRelative() = 0;
186 
188  {
189  FCL_REAL vol = 0;
190  Vec3f com(0,0,0);
191  for(int i = 0; i < num_tris; ++i)
192  {
193  const Triangle& tri = tri_indices[i];
194  FCL_REAL d_six_vol = (vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
195  vol += d_six_vol;
196  com += (vertices[tri[0]] + vertices[tri[1]] + vertices[tri[2]]) * d_six_vol;
197  }
198 
199  return com / (vol * 4);
200  }
201 
203  {
204  FCL_REAL vol = 0;
205  for(int i = 0; i < num_tris; ++i)
206  {
207  const Triangle& tri = tri_indices[i];
208  FCL_REAL d_six_vol = (vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
209  vol += d_six_vol;
210  }
211 
212  return vol / 6;
213  }
214 
216  {
217  Matrix3f C = Matrix3f::Zero();
218 
219  Matrix3f C_canonical;
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;
223 
224  for(int i = 0; i < num_tris; ++i)
225  {
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);
232  }
233 
234  return C.trace() * Matrix3f::Identity() - C;
235  }
236 
237 protected:
238  virtual void deleteBVs() = 0;
239  virtual bool allocateBVs() = 0;
240 
242  virtual int buildTree() = 0;
243 
245  virtual int refitTree(bool bottomup) = 0;
246 
250 };
251 
254 template<typename BV>
255 class BVHModel : public BVHModelBase
256 {
257 
258 public:
260  boost::shared_ptr<BVSplitter<BV> > bv_splitter;
261 
263  boost::shared_ptr<BVFitter<BV> > bv_fitter;
264 
266  BVHModel();
267 
269  BVHModel(const BVHModel& other);
270 
273  {
274  delete [] bvs;
275  delete [] primitive_indices;
276  }
277 
279 
281  const BVNode<BV>& getBV(int id) const
282  {
283  assert (id < num_bvs);
284  return bvs[id];
285  }
286 
288  BVNode<BV>& getBV(int id)
289  {
290  assert (id < num_bvs);
291  return bvs[id];
292  }
293 
295  int getNumBVs() const
296  {
297  return num_bvs;
298  }
299 
301  NODE_TYPE getNodeType() const { return BV_UNKNOWN; }
302 
304  int memUsage(int msg) const;
305 
309  {
310  Matrix3f I (Matrix3f::Identity());
311  makeParentRelativeRecurse(0, I, Vec3f());
312  }
313 
314 private:
315  void deleteBVs();
316  bool allocateBVs();
317 
318  int num_bvs_allocated;
319  unsigned int* primitive_indices;
320 
322  BVNode<BV>* bvs;
323 
325  int num_bvs;
326 
328  int buildTree();
329 
331  int refitTree(bool bottomup);
332 
334  int refitTree_topdown();
335 
337  int refitTree_bottomup();
338 
340  int recursiveBuildTree(int bv_id, int first_primitive, int num_primitives);
341 
343  int recursiveRefitTree_bottomup(int bv_id);
344 
347  void makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c)
348  {
349  if(!bvs[bv_id].isLeaf())
350  {
351  makeParentRelativeRecurse(bvs[bv_id].first_child, parent_axes, bvs[bv_id].getCenter());
352 
353  makeParentRelativeRecurse(bvs[bv_id].first_child + 1, parent_axes, bvs[bv_id].getCenter());
354  }
355 
356  bvs[bv_id].bv = translate(bvs[bv_id].bv, -parent_c);
357  }
358 };
359 
361 
362 template<>
363 void BVHModel<OBB>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);
364 
365 template<>
366 void BVHModel<RSS>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);
367 
368 template<>
369 void BVHModel<OBBRSS>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);
370 
371 
373 template<>
375 
376 template<>
378 
379 template<>
381 
382 template<>
384 
385 template<>
387 
388 template<>
390 
391 template<>
393 
394 template<>
396 
397 }
398 
399 } // namespace hpp
400 
401 #endif
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&#39;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&#39;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.