All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends

BVH_utility.h

00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  */
00034 
00038 #ifndef FCL_BVH_UTILITY_H
00039 #define FCL_BVH_UTILITY_H
00040 
00041 #include "fcl/BVH/BVH_model.h"
00042 
00043 
00044 namespace fcl
00045 {
00047 template<typename BV>
00048 void BVHExpand(BVHModel<BV>& model, const Variance3f* ucs, FCL_REAL r)
00049 {
00050   for(int i = 0; i < model.num_bvs; ++i)
00051   {
00052     BVNode<BV>& bvnode = model.getBV(i);
00053 
00054     BV bv;
00055     for(int j = 0; j < bvnode.num_primitives; ++j)
00056     {
00057       int v_id = bvnode.first_primitive + j;
00058       const Variance3f& uc = ucs[v_id];
00059 
00060       Vec3f& v = model.vertices[bvnode.first_primitive + j];
00061 
00062       for(int k = 0; k < 3; ++k)
00063       {
00064         bv += (v + uc.axis[k] * (r * uc.sigma[k]));
00065         bv += (v - uc.axis[k] * (r * uc.sigma[k]));
00066       }
00067     }
00068 
00069     bvnode.bv = bv;
00070   }
00071 }
00072 
00074 void BVHExpand(BVHModel<OBB>& model, const Variance3f* ucs, FCL_REAL r);
00075 
00077 void BVHExpand(BVHModel<RSS>& model, const Variance3f* ucs, FCL_REAL r);
00078 
00080 void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Matrix3f& M);
00081 
00083 void getRadiusAndOriginAndRectangleSize(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Vec3f axis[3], Vec3f& origin, FCL_REAL l[2], FCL_REAL& r);
00084 
00086 void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Vec3f axis[3], Vec3f& center, Vec3f& extent);
00087 
00089 void circumCircleComputation(const Vec3f& a, const Vec3f& b, const Vec3f& c, Vec3f& center, FCL_REAL& radius);
00090 
00092 FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, const Vec3f& query);
00093 
00094 
00095 }
00096 
00097 #endif