#include <BVH_model.h>
Inheritance diagram for fcl::BVHModel< BV >:
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 |
| Access the bv giving the its index. | |
| 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 |
| Get the object type: it is a BVH. | |
| NODE_TYPE | getNodeType () const |
| Get the BV type: default is unknown. | |
| void | computeLocalAABB () |
| 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 Vec3f &p) |
| Add one point in the new BVH model. | |
| int | addTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
| Add one triangle in the new BVH model. | |
| int | addSubModel (const std::vector< Vec3f > &ps, const std::vector< Triangle > &ts) |
| Add a set of triangles in the new BVH model. | |
| int | addSubModel (const std::vector< Vec3f > &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 Vec3f &p) |
| Replace one point in the old BVH model. | |
| int | replaceTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
| Replace one triangle in the old BVH model. | |
| int | replaceSubModel (const std::vector< Vec3f > &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 Vec3f &p) |
| Update one point in the old BVH model. | |
| int | updateTriangle (const Vec3f &p1, const Vec3f &p2, const Vec3f &p3) |
| Update one triangle in the old BVH model. | |
| int | updateSubModel (const std::vector< Vec3f > &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. | |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| void | makeParentRelativeRecurse (int bv_id, Vec3f parent_axis[], const Vec3f &parent_c) |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| template<> | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
Public Attributes | |
| Vec3f * | vertices |
| Geometry point data. | |
| Triangle * | tri_indices |
| Geometry triangle index data, will be NULL for point clouds. | |
| Vec3f * | 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. | |
|
boost::shared_ptr< BVSplitterBase< BV > > | bv_splitter |
| Split rule to split one BV node into two children. | |
|
boost::shared_ptr< BVFitterBase< BV > > | bv_fitter |
| Fitting rule to fit a BV node to a set of geometry primitives. | |
Definition at line 53 of file BVH_model.h.
