hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
hpp::fcl::BVHModelBase Class Referenceabstract

A base 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::BVHModelBase:
Collaboration diagram for hpp::fcl::BVHModelBase:

Public Member Functions

BVHModelType getModelType () const
 Model type described by the instance. More...
 
 BVHModelBase ()
 Constructing an empty BVH. More...
 
 BVHModelBase (const BVHModelBase &other)
 copy from another BVH More...
 
virtual ~BVHModelBase ()
 deconstruction, delete mesh data related. More...
 
OBJECT_TYPE getObjectType () const
 Get the object type: it is a BVH. 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. should have the same mesh topology with the previous frame). The current frame will be saved as the previous frame in prev_vertices. 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...
 
void buildConvexRepresentation (bool share_memory)
 Build this Convex<Triangle> representation of this model. More...
 
virtual int memUsage (int msg) const =0
 
virtual void makeParentRelative ()=0
 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. 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...
 
- Public Member Functions inherited from hpp::fcl::CollisionGeometry
 CollisionGeometry ()
 
virtual ~CollisionGeometry ()
 
virtual NODE_TYPE getNodeType () const
 get the node type More...
 
void * getUserData () const
 get user data in geometry More...
 
void setUserData (void *data)
 set user data in geometry More...
 
bool isOccupied () const
 whether the object is completely occupied More...
 
bool isFree () const
 whether the object is completely free More...
 
bool isUncertain () const
 whether the object has some uncertainty More...
 
virtual Matrix3f computeMomentofInertiaRelatedToCOM () const
 compute the inertia matrix, related to the com More...
 

Public Attributes

Vec3fvertices
 Geometry point data. More...
 
Triangletri_indices
 Geometry triangle index data, will be NULL for point clouds. More...
 
Vec3fprev_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< ConvexBaseconvex
 Convex<Triangle> representation of this object. 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...
 

Protected Member Functions

virtual void deleteBVs ()=0
 
virtual bool allocateBVs ()=0
 
virtual int buildTree ()=0
 Build the bounding volume hierarchy. More...
 
virtual int refitTree (bool bottomup)=0
 Refit the bounding volume hierarchy. More...
 

Protected Attributes

int num_tris_allocated
 
int num_vertices_allocated
 
int num_vertex_updated
 

Detailed Description

A base 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

◆ BVHModelBase() [1/2]

hpp::fcl::BVHModelBase::BVHModelBase ( )
inline

Constructing an empty BVH.

◆ BVHModelBase() [2/2]

hpp::fcl::BVHModelBase::BVHModelBase ( const BVHModelBase other)

copy from another BVH

◆ ~BVHModelBase()

virtual hpp::fcl::BVHModelBase::~BVHModelBase ( )
inlinevirtual

deconstruction, delete mesh data related.

Member Function Documentation

◆ addSubModel() [1/2]

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

Add a set of triangles in the new BVH model.

◆ addSubModel() [2/2]

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

Add a set of points in the new BVH model.

◆ addTriangle()

int hpp::fcl::BVHModelBase::addTriangle ( const Vec3f p1,
const Vec3f p2,
const Vec3f p3 
)

Add one triangle in the new BVH model.

◆ addVertex()

int hpp::fcl::BVHModelBase::addVertex ( const Vec3f p)

Add one point in the new BVH model.

◆ allocateBVs()

virtual bool hpp::fcl::BVHModelBase::allocateBVs ( )
protectedpure virtual

◆ beginModel()

int hpp::fcl::BVHModelBase::beginModel ( int  num_tris = 0,
int  num_vertices = 0 
)

Begin a new BVH model.

◆ beginReplaceModel()

int hpp::fcl::BVHModelBase::beginReplaceModel ( )

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

◆ beginUpdateModel()

int hpp::fcl::BVHModelBase::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.

◆ buildConvexRepresentation()

void hpp::fcl::BVHModelBase::buildConvexRepresentation ( bool  share_memory)

Build this Convex<Triangle> representation of this model.

Note
this only takes the points of this model. It does not check that the object is convex. It does not compute a convex hull.

◆ buildTree()

virtual int hpp::fcl::BVHModelBase::buildTree ( )
protectedpure virtual

Build the bounding volume hierarchy.

◆ computeCOM()

Vec3f hpp::fcl::BVHModelBase::computeCOM ( ) const
inlinevirtual

compute center of mass

Reimplemented from hpp::fcl::CollisionGeometry.

◆ computeLocalAABB()

void hpp::fcl::BVHModelBase::computeLocalAABB ( )
virtual

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

Implements hpp::fcl::CollisionGeometry.

◆ computeMomentofInertia()

Matrix3f hpp::fcl::BVHModelBase::computeMomentofInertia ( ) const
inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

◆ computeVolume()

FCL_REAL hpp::fcl::BVHModelBase::computeVolume ( ) const
inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

◆ deleteBVs()

virtual void hpp::fcl::BVHModelBase::deleteBVs ( )
protectedpure virtual

◆ endModel()

int hpp::fcl::BVHModelBase::endModel ( )

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

◆ endReplaceModel()

int hpp::fcl::BVHModelBase::endReplaceModel ( bool  refit = true,
bool  bottomup = true 
)

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

◆ endUpdateModel()

int hpp::fcl::BVHModelBase::endUpdateModel ( bool  refit = true,
bool  bottomup = true 
)

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

◆ getModelType()

BVHModelType hpp::fcl::BVHModelBase::getModelType ( ) const
inline

Model type described by the instance.

◆ getObjectType()

OBJECT_TYPE hpp::fcl::BVHModelBase::getObjectType ( ) const
inlinevirtual

Get the object type: it is a BVH.

Reimplemented from hpp::fcl::CollisionGeometry.

◆ makeParentRelative()

virtual void hpp::fcl::BVHModelBase::makeParentRelative ( )
pure virtual

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.

Implemented in hpp::fcl::BVHModel< BV >.

◆ memUsage()

virtual int hpp::fcl::BVHModelBase::memUsage ( int  msg) const
pure virtual

Implemented in hpp::fcl::BVHModel< BV >.

◆ refitTree()

virtual int hpp::fcl::BVHModelBase::refitTree ( bool  bottomup)
protectedpure virtual

Refit the bounding volume hierarchy.

◆ replaceSubModel()

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

Replace a set of points in the old BVH model.

◆ replaceTriangle()

int hpp::fcl::BVHModelBase::replaceTriangle ( const Vec3f p1,
const Vec3f p2,
const Vec3f p3 
)

Replace one triangle in the old BVH model.

◆ replaceVertex()

int hpp::fcl::BVHModelBase::replaceVertex ( const Vec3f p)

Replace one point in the old BVH model.

◆ updateSubModel()

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

Update a set of points in the old BVH model.

◆ updateTriangle()

int hpp::fcl::BVHModelBase::updateTriangle ( const Vec3f p1,
const Vec3f p2,
const Vec3f p3 
)

Update one triangle in the old BVH model.

◆ updateVertex()

int hpp::fcl::BVHModelBase::updateVertex ( const Vec3f p)

Update one point in the old BVH model.

Member Data Documentation

◆ build_state

BVHBuildState hpp::fcl::BVHModelBase::build_state

The state of BVH building process.

◆ convex

boost::shared_ptr< ConvexBase > hpp::fcl::BVHModelBase::convex

Convex<Triangle> representation of this object.

◆ num_tris

int hpp::fcl::BVHModelBase::num_tris

Number of triangles.

◆ num_tris_allocated

int hpp::fcl::BVHModelBase::num_tris_allocated
protected

◆ num_vertex_updated

int hpp::fcl::BVHModelBase::num_vertex_updated
protected

◆ num_vertices

int hpp::fcl::BVHModelBase::num_vertices

Number of points.

◆ num_vertices_allocated

int hpp::fcl::BVHModelBase::num_vertices_allocated
protected

◆ prev_vertices

Vec3f* hpp::fcl::BVHModelBase::prev_vertices

Geometry point data in previous frame.

◆ tri_indices

Triangle* hpp::fcl::BVHModelBase::tri_indices

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

◆ vertices

Vec3f* hpp::fcl::BVHModelBase::vertices

Geometry point data.


The documentation for this class was generated from the following file: