BVH_model.h

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#ifndef FCL_BVH_MODEL_H
#define FCL_BVH_MODEL_H

#include <vector>
#include <memory>

#include "fcl/math/bv/OBB.h"
#include "fcl/math/bv/kDOP.h"
#include "fcl/geometry/collision_geometry.h"
#include "fcl/geometry/bvh/BVH_internal.h"
#include "fcl/geometry/bvh/BV_node.h"
#include "fcl/geometry/bvh/detail/BV_splitter.h"
#include "fcl/geometry/bvh/detail/BV_fitter.h"

namespace fcl
{

template <typename BV>
class BVHModel : public CollisionGeometry<typename BV::S>
{
public:

  using S = typename BV::S;

  BVHModelType getModelType() const;

  BVHModel();

  BVHModel(const BVHModel& other);

  ~BVHModel();

  
  const BVNode<BV>& getBV(int id) const;

  BVNode<BV>& getBV(int id);

  int getNumBVs() const;

  OBJECT_TYPE getObjectType() const override;

  NODE_TYPE getNodeType() const override;

  void computeLocalAABB() override;

  int beginModel(int num_tris = 0, int num_vertices = 0);

  int addVertex(const Vector3<S>& p);

  int addTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const Vector3<S>& p3);

  int addSubModel(const std::vector<Vector3<S>>& ps, const std::vector<Triangle>& ts);

  int addSubModel(const std::vector<Vector3<S>>& ps);

  int endModel();


  int beginReplaceModel();

  int replaceVertex(const Vector3<S>& p);

  int replaceTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const Vector3<S>& p3);

  int replaceSubModel(const std::vector<Vector3<S>>& ps);

  int endReplaceModel(bool refit = true, bool bottomup = true);


  int beginUpdateModel();

  int updateVertex(const Vector3<S>& p);

  int updateTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const Vector3<S>& p3);

  int updateSubModel(const std::vector<Vector3<S>>& ps);

  int endUpdateModel(bool refit = true, bool bottomup = true);

  int memUsage(int msg) const;

  void makeParentRelative();

  Vector3<S> computeCOM() const override;

  S computeVolume() const override;

  Matrix3<S> computeMomentofInertia() const override;

public:
  Vector3<S>* vertices;

  Triangle* tri_indices;

  Vector3<S>* prev_vertices;

  int num_tris;

  int num_vertices;

  BVHBuildState build_state;

  std::shared_ptr<detail::BVSplitterBase<BV>> bv_splitter;

  std::shared_ptr<detail::BVFitterBase<BV>> bv_fitter;

private:

  int num_tris_allocated;
  int num_vertices_allocated;
  int num_bvs_allocated;
  int num_vertex_updated; 
  unsigned int* primitive_indices;

  BVNode<BV>* bvs;

  int num_bvs;

  int buildTree();

  int refitTree(bool bottomup);

  int refitTree_topdown();

  int refitTree_bottomup();

  int recursiveBuildTree(int bv_id, int first_primitive, int num_primitives);

  int recursiveRefitTree_bottomup(int bv_id);

  void makeParentRelativeRecurse(
      int bv_id,
      const Matrix3<S>& parent_axis,
      const Vector3<S>& parent_c);

  template <typename, typename>
  friend struct MakeParentRelativeRecurseImpl;
};

} // namespace fcl

#include "fcl/geometry/bvh/BVH_model-inl.h"

#endif