FCL  0.6.0
Flexible Collision Library
BV_splitter_base.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef FCL_BV_SPLITTERBASE_H
39 #define FCL_BV_SPLITTERBASE_H
40 
41 #include "fcl/math/triangle.h"
42 #include "fcl/geometry/bvh/BVH_internal.h"
43 #include "fcl/math/bv/kIOS.h"
44 #include "fcl/math/bv/OBBRSS.h"
45 #include <vector>
46 #include <iostream>
47 
48 namespace fcl
49 {
50 
51 namespace detail
52 {
53 
55 template <typename BV>
57 {
58 public:
59 
60  using S = typename BV::S;
61 
63  virtual void set(
64  Vector3<S>* vertices_,
65  Triangle* tri_indices_,
66  BVHModelType type_) = 0;
67 
70  virtual void computeRule(
71  const BV& bv, unsigned int* primitive_indices, int num_primitives) = 0;
72 
74  virtual bool apply(const Vector3<S>& q) const = 0;
75 
77  virtual void clear() = 0;
78 };
79 
80 } // namespace detail
81 } // namespace fcl
82 
83 #endif
Base interface for BV splitting algorithm.
Definition: BV_splitter_base.h:56
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
BVHModelType
BVH model type.
Definition: BVH_internal.h:75
virtual void clear()=0
Clear the geometry data set before.
Triangle with 3 indices for points.
Definition: triangle.h:47
virtual void computeRule(const BV &bv, unsigned int *primitive_indices, int num_primitives)=0
Compute the split rule according to a subset of geometry and the corresponding BV node...
virtual bool apply(const Vector3< S > &q) const =0
Apply the split rule on a given point.