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)
104 num_tris_allocated(0),
105 num_vertices_allocated(0),
106 num_vertex_updated(0)
117 delete [] tri_indices;
118 delete [] prev_vertices;
125 void computeLocalAABB();
128 int beginModel(
int num_tris = 0,
int num_vertices = 0);
131 int addVertex(
const Vec3f& p);
137 int addSubModel(
const std::vector<Vec3f>& ps,
const std::vector<Triangle>& ts);
140 int addSubModel(
const std::vector<Vec3f>& ps);
146 int beginReplaceModel();
149 int replaceVertex(
const Vec3f& p);
152 int replaceTriangle(
const Vec3f& p1,
const Vec3f& p2,
const Vec3f& p3);
155 int replaceSubModel(
const std::vector<Vec3f>& ps);
158 int endReplaceModel(
bool refit =
true,
bool bottomup =
true);
162 int beginUpdateModel();
165 int updateVertex(
const Vec3f& p);
171 int updateSubModel(
const std::vector<Vec3f>& ps);
174 int endUpdateModel(
bool refit =
true,
bool bottomup =
true);
180 void buildConvexRepresentation(
bool share_memory);
193 bool buildConvexHull(
bool keepTriangle,
const char* qhullCommand = NULL);
195 virtual int memUsage(
int msg)
const = 0;
199 virtual void makeParentRelative() = 0;
205 for(
int i = 0; i < num_tris; ++i)
207 const Triangle& tri = tri_indices[i];
208 FCL_REAL d_six_vol = (vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
210 com += (vertices[tri[0]] + vertices[tri[1]] + vertices[tri[2]]) * d_six_vol;
213 return com / (vol * 4);
219 for(
int i = 0; i < num_tris; ++i)
221 const Triangle& tri = tri_indices[i];
222 FCL_REAL d_six_vol = (vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
234 C_canonical << 1/60.0, 1/120.0, 1/120.0,
235 1/120.0, 1/60.0, 1/120.0,
236 1/120.0, 1/120.0, 1/60.0;
238 for(
int i = 0; i < num_tris; ++i)
240 const Triangle& tri = tri_indices[i];
241 const Vec3f& v1 = vertices[tri[0]];
242 const Vec3f& v2 = vertices[tri[1]];
243 const Vec3f& v3 = vertices[tri[2]];
244 Matrix3f A; A << v1.transpose(), v2.transpose(), v3.transpose();
245 C += A.derived().transpose() * C_canonical * A * (v1.cross(v2)).dot(v3);
248 return C.trace() * Matrix3f::Identity() - C;
252 virtual void deleteBVs() = 0;
253 virtual bool allocateBVs() = 0;
256 virtual int buildTree() = 0;
259 virtual int refitTree(
bool bottomup) = 0;
268 template<
typename BV>
289 delete [] primitive_indices;
297 assert (
id < num_bvs);
304 assert (
id < num_bvs);
318 int memUsage(
int msg)
const;
325 makeParentRelativeRecurse(0, I,
Vec3f());
332 int num_bvs_allocated;
333 unsigned int* primitive_indices;
345 int refitTree(
bool bottomup);
348 int refitTree_topdown();
351 int refitTree_bottomup();
354 int recursiveBuildTree(
int bv_id,
int first_primitive,
int num_primitives);
357 int recursiveRefitTree_bottomup(
int bv_id);
361 void makeParentRelativeRecurse(
int bv_id,
Matrix3f& parent_axes,
const Vec3f& parent_c)
363 if(!bvs[bv_id].isLeaf())
365 makeParentRelativeRecurse(bvs[bv_id].first_child, parent_axes, bvs[bv_id].getCenter());
367 makeParentRelativeRecurse(bvs[bv_id].first_child + 1, parent_axes, bvs[bv_id].getCenter());
370 bvs[bv_id].
bv =
translate(bvs[bv_id].bv, -parent_c);
Vec3f * prev_vertices
Geometry point data in previous frame.
Definition: BVH_model.h:72
FCL_REAL computeVolume() const
compute the volume
Definition: BVH_model.h:216
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:302
int num_tris_allocated
Definition: BVH_model.h:261
Definition: collision_object.h:56
BV bv
bounding volume storing the geometry
Definition: BV_node.h:90
Definition: BVH_internal.h:79
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
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
KDOP< N > translate(const KDOP< N > &bv, const Vec3f &t)
translate the KDOP BV
boost::shared_ptr< BVFitter< BV > > bv_fitter
Fitting rule to fit a BV node to a set of geometry primitives.
Definition: BVH_model.h:277
Vec3f computeCOM() const
compute center of mass
Definition: BVH_model.h:201
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
int getNumBVs() const
Get the number of bv in the BVH.
Definition: BVH_model.h:309
Triangle * tri_indices
Geometry triangle index data, will be NULL for point clouds.
Definition: BVH_model.h:69
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:66
int num_vertex_updated
Definition: BVH_model.h:263
BVHModelType getModelType() const
Model type described by the instance.
Definition: BVH_model.h:87
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:295
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:269
void makeParentRelative()
This is a special acceleration: BVH_model default stores the BV's transform in world coordinate...
Definition: BVH_model.h:322
~BVHModel()
deconstruction, delete mesh data related.
Definition: BVH_model.h:286
int num_vertices_allocated
Definition: BVH_model.h:262
Triangle with 3 indices for points.
Definition: data_types.h:72
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:315
Matrix3f computeMomentofInertia() const
compute the inertia matrix, related to the origin
Definition: BVH_model.h:229
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:67
boost::shared_ptr< BVSplitter< BV > > bv_splitter
Split rule to split one BV node into two children.
Definition: BVH_model.h:274
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
int num_vertices
Number of points.
Definition: BVH_model.h:78
BVHModelBase()
Constructing an empty BVH.
Definition: BVH_model.h:98
#define HPP_FCL_DLLAPI
Definition: config.hh:64