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FCL
0.6.0
Flexible Collision Library
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FCL
0.6.0
Flexible Collision Library
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A 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 <BVH_model.h>
Public Types | |
| using | S = typename BV::S |
Public Member Functions | |
| BVHModelType | getModelType () const |
| Model type described by the instance. | |
| BVHModel () | |
| Constructing an empty BVH. | |
| BVHModel (const BVHModel &other) | |
| copy from another BVH | |
| ~BVHModel () | |
| deconstruction, delete mesh data related. | |
| const BVNode< BV > & | getBV (int id) const |
| We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here. More... | |
| BVNode< BV > & | getBV (int id) |
| Access the bv giving the its index. | |
| int | getNumBVs () const |
| Get the number of bv in the BVH. | |
| OBJECT_TYPE | getObjectType () const override |
| Get the object type: it is a BVH. | |
| NODE_TYPE | getNodeType () const override |
| Get the BV type: default is unknown. | |
| void | computeLocalAABB () override |
| 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. | |
| int | addVertex (const Vector3< S > &p) |
| Add one point in the new BVH model. | |
| int | addTriangle (const Vector3< S > &p1, const Vector3< S > &p2, const Vector3< S > &p3) |
| Add one triangle in the new BVH model. | |
| int | addSubModel (const std::vector< Vector3< S >> &ps, const std::vector< Triangle > &ts) |
| Add a set of triangles in the new BVH model. | |
| int | addSubModel (const std::vector< Vector3< S >> &ps) |
| Add a set of points in the new BVH model. | |
| int | endModel () |
| End BVH model construction, will build the bounding volume hierarchy. | |
| int | beginReplaceModel () |
| Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame) | |
| int | replaceVertex (const Vector3< S > &p) |
| Replace one point in the old BVH model. | |
| int | replaceTriangle (const Vector3< S > &p1, const Vector3< S > &p2, const Vector3< S > &p3) |
| Replace one triangle in the old BVH model. | |
| int | replaceSubModel (const std::vector< Vector3< S >> &ps) |
| Replace a set of points in the old BVH model. | |
| int | endReplaceModel (bool refit=true, bool bottomup=true) |
| End BVH model replacement, will also refit or rebuild the bounding volume hierarchy. | |
| 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. | |
| int | updateVertex (const Vector3< S > &p) |
| Update one point in the old BVH model. | |
| int | updateTriangle (const Vector3< S > &p1, const Vector3< S > &p2, const Vector3< S > &p3) |
| Update one triangle in the old BVH model. | |
| int | updateSubModel (const std::vector< Vector3< S >> &ps) |
| Update a set of points in the old BVH model. | |
| int | endUpdateModel (bool refit=true, bool bottomup=true) |
| End BVH model update, will also refit or rebuild the bounding volume hierarchy. | |
| int | memUsage (int msg) const |
| Check the number of memory used. | |
| void | makeParentRelative () |
| 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. | |
| Vector3< S > | computeCOM () const override |
| compute center of mass | |
| S | computeVolume () const override |
| compute the volume | |
| Matrix3< S > | computeMomentofInertia () const override |
| compute the inertia matrix, related to the origin | |
 Public Member Functions inherited from fcl::CollisionGeometry< BV::S > | |
| void * | getUserData () const |
| get user data in geometry | |
| void | setUserData (void *data) |
| set user data in geometry | |
| bool | isOccupied () const |
| whether the object is completely occupied | |
| bool | isFree () const |
| whether the object is completely free | |
| bool | isUncertain () const |
| whether the object has some uncertainty | |
| virtual Matrix3< BV::S > | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com | |
Public Attributes | |
| Vector3< S > * | vertices |
| Geometry point data. | |
| Triangle * | tri_indices |
| Geometry triangle index data, will be nullptr for point clouds. | |
| Vector3< S > * | prev_vertices |
| Geometry point data in previous frame. | |
| int | num_tris |
| Number of triangles. | |
| int | num_vertices |
| Number of points. | |
| BVHBuildState | build_state |
| The state of BVH building process. | |
| std::shared_ptr< detail::BVSplitterBase< BV > > | bv_splitter |
| Split rule to split one BV node into two children. | |
| std::shared_ptr< detail::BVFitterBase< BV > > | bv_fitter |
| Fitting rule to fit a BV node to a set of geometry primitives. | |
| Public Attributes inherited from fcl::CollisionGeometry< BV::S > | |
| Vector3< BV::S > | aabb_center |
| AABB center in local coordinate. | |
| BV::S | aabb_radius |
| AABB radius. | |
| AABB< BV::S > | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. | |
| void * | user_data |
| pointer to user defined data specific to this object | |
| BV::S | cost_density |
| collision cost for unit volume | |
| BV::S | threshold_occupied |
| threshold for occupied ( >= is occupied) | |
| BV::S | threshold_free |
| threshold for free (<= is free) | |
Friends | |
| template<typename , typename > | |
| struct | MakeParentRelativeRecurseImpl |
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
| const BVNode< BV > & fcl::BVHModel< BV >::getBV | ( | int | id | ) | const |
We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here.
Access the bv giving the its index
1.8.11 
