#include <hierarchy_tree.h>
Public Member Functions | |
| HierarchyTree (int bu_threshold_=16, int topdown_level_=0) | |
| Create hierarchy tree with suitable setting. bu_threshold decides the height of tree node to start bottom-up construction / optimization; topdown_level decides different methods to construct tree in topdown manner. lower level method constructs tree with better quality but is slower. | |
| void | init (std::vector< NodeType * > &leaves, int level=0) |
| Initialize the tree by a set of leaves using algorithm with a given level. | |
| NodeType * | insert (const BV &bv, void *data) |
| Insest a node. | |
| void | remove (NodeType *leaf) |
| Remove a leaf node. | |
| void | clear () |
| Clear the tree. | |
| bool | empty () const |
| Whether the tree is empty. | |
| void | update (NodeType *leaf, int lookahead_level=-1) |
| update one leaf node | |
| bool | update (NodeType *leaf, const BV &bv) |
| update the tree when the bounding volume of a given leaf has changed | |
| bool | update (NodeType *leaf, const BV &bv, const Vec3f &vel, FCL_REAL margin) |
| update one leaf's bounding volume, with prediction | |
| bool | update (NodeType *leaf, const BV &bv, const Vec3f &vel) |
| update one leaf's bounding volume, with prediction | |
| size_t | getMaxHeight () const |
| get the max height of the tree | |
| size_t | getMaxDepth () const |
| get the max depth of the tree | |
| void | balanceBottomup () |
| balance the tree from bottom | |
| void | balanceTopdown () |
| balance the tree from top | |
| void | balanceIncremental (int iterations) |
| balance the tree in an incremental way | |
| void | refit () |
| refit the tree, i.e., when the leaf nodes' bounding volumes change, update the entire tree in a bottom-up manner | |
| void | extractLeaves (const NodeType *root, std::vector< NodeType * > &leaves) const |
| extract all the leaves of the tree | |
| size_t | size () const |
| number of leaves in the tree | |
| NodeType * | getRoot () const |
| get the root of the tree | |
| NodeType *& | getRoot () |
| void | print (NodeType *root, int depth) |
| print the tree in a recursive way | |
| template<> | |
| bool | update (NodeBase< AABB > *leaf, const AABB &bv_, const Vec3f &vel, FCL_REAL margin) |
| template<> | |
| bool | update (NodeBase< AABB > *leaf, const AABB &bv_, const Vec3f &vel) |
| template<> | |
| bool | update (NodeBase< AABB > *leaf, const AABB &bv_, const Vec3f &vel, FCL_REAL margin) |
| template<> | |
| bool | update (NodeBase< AABB > *leaf, const AABB &bv_, const Vec3f &vel) |
Public Attributes | |
| int | topdown_level |
| decide which topdown algorithm to use | |
| int | bu_threshold |
| decide the depth to use expensive bottom-up algorithm | |
Protected Attributes | |
| NodeType * | root_node |
| size_t | n_leaves |
| unsigned int | opath |
| NodeType * | free_node |
| This is a one NodeType cache, the reason is that we need to remove a node and then add it again frequently. | |
| int | max_lookahead_level |
Classes | |
| struct | SortByMorton |
Definition at line 116 of file hierarchy_tree.h.
