Program Listing for File BVH_model.h
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#ifndef COAL_BVH_MODEL_H
#define COAL_BVH_MODEL_H
#include "coal/fwd.hh"
#include "coal/collision_object.h"
#include "coal/BVH/BVH_internal.h"
#include "coal/BV/BV_node.h"
#include <vector>
#include <memory>
#include <iostream>
namespace coal {
class ConvexBase;
template <typename BV>
class BVFitter;
template <typename BV>
class BVSplitter;
class COAL_DLLAPI BVHModelBase : public CollisionGeometry {
public:
std::shared_ptr<std::vector<Vec3s>> vertices;
std::shared_ptr<std::vector<Triangle>> tri_indices;
std::shared_ptr<std::vector<Vec3s>> prev_vertices;
unsigned int num_tris;
unsigned int num_vertices;
BVHBuildState build_state;
shared_ptr<ConvexBase> convex;
BVHModelType getModelType() const {
if (num_tris && num_vertices)
return BVH_MODEL_TRIANGLES;
else if (num_vertices)
return BVH_MODEL_POINTCLOUD;
else
return BVH_MODEL_UNKNOWN;
}
BVHModelBase();
BVHModelBase(const BVHModelBase& other);
virtual ~BVHModelBase() {}
OBJECT_TYPE getObjectType() const { return OT_BVH; }
void computeLocalAABB();
int beginModel(unsigned int num_tris = 0, unsigned int num_vertices = 0);
int addVertex(const Vec3s& p);
int addVertices(const MatrixX3s& points);
int addTriangles(const Matrixx3i& triangles);
int addTriangle(const Vec3s& p1, const Vec3s& p2, const Vec3s& p3);
int addSubModel(const std::vector<Vec3s>& ps,
const std::vector<Triangle>& ts);
int addSubModel(const std::vector<Vec3s>& ps);
int endModel();
int beginReplaceModel();
int replaceVertex(const Vec3s& p);
int replaceTriangle(const Vec3s& p1, const Vec3s& p2, const Vec3s& p3);
int replaceSubModel(const std::vector<Vec3s>& ps);
int endReplaceModel(bool refit = true, bool bottomup = true);
int beginUpdateModel();
int updateVertex(const Vec3s& p);
int updateTriangle(const Vec3s& p1, const Vec3s& p2, const Vec3s& p3);
int updateSubModel(const std::vector<Vec3s>& ps);
int endUpdateModel(bool refit = true, bool bottomup = true);
void buildConvexRepresentation(bool share_memory);
bool buildConvexHull(bool keepTriangle, const char* qhullCommand = NULL);
virtual int memUsage(const bool msg = false) const = 0;
virtual void makeParentRelative() = 0;
Vec3s computeCOM() const {
Scalar vol = 0;
Vec3s com(0, 0, 0);
if (!(vertices.get())) {
std::cerr << "BVH Error in `computeCOM`! The BVHModel does not contain "
"vertices."
<< std::endl;
return com;
}
const std::vector<Vec3s>& vertices_ = *vertices;
if (!(tri_indices.get())) {
std::cerr << "BVH Error in `computeCOM`! The BVHModel does not contain "
"triangles."
<< std::endl;
return com;
}
const std::vector<Triangle>& tri_indices_ = *tri_indices;
for (unsigned int i = 0; i < num_tris; ++i) {
const Triangle& tri = tri_indices_[i];
Scalar d_six_vol =
(vertices_[tri[0]].cross(vertices_[tri[1]])).dot(vertices_[tri[2]]);
vol += d_six_vol;
com += (vertices_[tri[0]] + vertices_[tri[1]] + vertices_[tri[2]]) *
d_six_vol;
}
return com / (vol * 4);
}
Scalar computeVolume() const {
Scalar vol = 0;
if (!(vertices.get())) {
std::cerr << "BVH Error in `computeCOM`! The BVHModel does not contain "
"vertices."
<< std::endl;
return vol;
}
const std::vector<Vec3s>& vertices_ = *vertices;
if (!(tri_indices.get())) {
std::cerr << "BVH Error in `computeCOM`! The BVHModel does not contain "
"triangles."
<< std::endl;
return vol;
}
const std::vector<Triangle>& tri_indices_ = *tri_indices;
for (unsigned int i = 0; i < num_tris; ++i) {
const Triangle& tri = tri_indices_[i];
Scalar d_six_vol =
(vertices_[tri[0]].cross(vertices_[tri[1]])).dot(vertices_[tri[2]]);
vol += d_six_vol;
}
return vol / 6;
}
Matrix3s computeMomentofInertia() const {
Matrix3s C = Matrix3s::Zero();
Matrix3s C_canonical;
C_canonical << Scalar(1 / 60.0), //
Scalar(1 / 120.0), //
Scalar(1 / 120.0), //
Scalar(1 / 120.0), //
Scalar(1 / 60.0), //
Scalar(1 / 120.0), //
Scalar(1 / 120.0), //
Scalar(1 / 120.0), //
Scalar(1 / 60.0);
if (!(vertices.get())) {
std::cerr << "BVH Error in `computeMomentofInertia`! The BVHModel does "
"not contain vertices."
<< std::endl;
return C;
}
const std::vector<Vec3s>& vertices_ = *vertices;
if (!(vertices.get())) {
std::cerr << "BVH Error in `computeMomentofInertia`! The BVHModel does "
"not contain vertices."
<< std::endl;
return C;
}
const std::vector<Triangle>& tri_indices_ = *tri_indices;
for (unsigned int i = 0; i < num_tris; ++i) {
const Triangle& tri = tri_indices_[i];
const Vec3s& v1 = vertices_[tri[0]];
const Vec3s& v2 = vertices_[tri[1]];
const Vec3s& v3 = vertices_[tri[2]];
Matrix3s A;
A << v1.transpose(), v2.transpose(), v3.transpose();
C += A.derived().transpose() * C_canonical * A * (v1.cross(v2)).dot(v3);
}
return C.trace() * Matrix3s::Identity() - C;
}
protected:
virtual void deleteBVs() = 0;
virtual bool allocateBVs() = 0;
virtual int buildTree() = 0;
virtual int refitTree(bool bottomup) = 0;
unsigned int num_tris_allocated;
unsigned int num_vertices_allocated;
unsigned int num_vertex_updated;
protected:
virtual bool isEqual(const CollisionGeometry& other) const;
};
template <typename BV>
class COAL_DLLAPI BVHModel : public BVHModelBase {
typedef BVHModelBase Base;
public:
using bv_node_vector_t =
std::vector<BVNode<BV>, Eigen::aligned_allocator<BVNode<BV>>>;
shared_ptr<BVSplitter<BV>> bv_splitter;
shared_ptr<BVFitter<BV>> bv_fitter;
BVHModel();
BVHModel(const BVHModel& other);
virtual BVHModel<BV>* clone() const { return new BVHModel(*this); }
~BVHModel() {}
const BVNode<BV>& getBV(unsigned int i) const {
assert(i < num_bvs);
return (*bvs)[i];
}
BVNode<BV>& getBV(unsigned int i) {
assert(i < num_bvs);
return (*bvs)[i];
}
unsigned int getNumBVs() const { return num_bvs; }
NODE_TYPE getNodeType() const { return BV_UNKNOWN; }
int memUsage(const bool msg) const;
void makeParentRelative() {
Matrix3s I(Matrix3s::Identity());
makeParentRelativeRecurse(0, I, Vec3s::Zero());
}
protected:
void deleteBVs();
bool allocateBVs();
unsigned int num_bvs_allocated;
std::shared_ptr<std::vector<unsigned int>> primitive_indices;
std::shared_ptr<bv_node_vector_t> bvs;
unsigned int num_bvs;
int buildTree();
int refitTree(bool bottomup);
int refitTree_topdown();
int refitTree_bottomup();
int recursiveBuildTree(int bv_id, unsigned int first_primitive,
unsigned int num_primitives);
int recursiveRefitTree_bottomup(int bv_id);
void makeParentRelativeRecurse(int bv_id, Matrix3s& parent_axes,
const Vec3s& parent_c) {
bv_node_vector_t& bvs_ = *bvs;
if (!bvs_[static_cast<size_t>(bv_id)].isLeaf()) {
makeParentRelativeRecurse(bvs_[static_cast<size_t>(bv_id)].first_child,
parent_axes,
bvs_[static_cast<size_t>(bv_id)].getCenter());
makeParentRelativeRecurse(
bvs_[static_cast<size_t>(bv_id)].first_child + 1, parent_axes,
bvs_[static_cast<size_t>(bv_id)].getCenter());
}
bvs_[static_cast<size_t>(bv_id)].bv =
translate(bvs_[static_cast<size_t>(bv_id)].bv, -parent_c);
}
private:
virtual bool isEqual(const CollisionGeometry& _other) const {
const BVHModel* other_ptr = dynamic_cast<const BVHModel*>(&_other);
if (other_ptr == nullptr) return false;
const BVHModel& other = *other_ptr;
bool res = Base::isEqual(other);
if (!res) return false;
// unsigned int other_num_primitives = 0;
// if(other.primitive_indices)
// {
// switch(other.getModelType())
// {
// case BVH_MODEL_TRIANGLES:
// other_num_primitives = num_tris;
// break;
// case BVH_MODEL_POINTCLOUD:
// other_num_primitives = num_vertices;
// break;
// default:
// ;
// }
// }
// unsigned int num_primitives = 0;
// if(primitive_indices)
// {
//
// switch(other.getModelType())
// {
// case BVH_MODEL_TRIANGLES:
// num_primitives = num_tris;
// break;
// case BVH_MODEL_POINTCLOUD:
// num_primitives = num_vertices;
// break;
// default:
// ;
// }
// }
//
// if(num_primitives != other_num_primitives)
// return false;
//
// for(int k = 0; k < num_primitives; ++k)
// {
// if(primitive_indices[k] != other.primitive_indices[k])
// return false;
// }
if (num_bvs != other.num_bvs) return false;
if ((!(bvs.get()) && other.bvs.get()) || (bvs.get() && !(other.bvs.get())))
return false;
if (bvs.get() && other.bvs.get()) {
const bv_node_vector_t& bvs_ = *bvs;
const bv_node_vector_t& other_bvs_ = *(other.bvs);
for (unsigned int k = 0; k < num_bvs; ++k) {
if (bvs_[k] != other_bvs_[k]) return false;
}
}
return true;
}
};
template <>
void BVHModel<OBB>::makeParentRelativeRecurse(int bv_id, Matrix3s& parent_axes,
const Vec3s& parent_c);
template <>
void BVHModel<RSS>::makeParentRelativeRecurse(int bv_id, Matrix3s& parent_axes,
const Vec3s& parent_c);
template <>
void BVHModel<OBBRSS>::makeParentRelativeRecurse(int bv_id,
Matrix3s& parent_axes,
const Vec3s& parent_c);
template <>
NODE_TYPE BVHModel<AABB>::getNodeType() const;
template <>
NODE_TYPE BVHModel<OBB>::getNodeType() const;
template <>
NODE_TYPE BVHModel<RSS>::getNodeType() const;
template <>
NODE_TYPE BVHModel<kIOS>::getNodeType() const;
template <>
NODE_TYPE BVHModel<OBBRSS>::getNodeType() const;
template <>
NODE_TYPE BVHModel<KDOP<16>>::getNodeType() const;
template <>
NODE_TYPE BVHModel<KDOP<18>>::getNodeType() const;
template <>
NODE_TYPE BVHModel<KDOP<24>>::getNodeType() const;
} // namespace coal
#endif