BV_fitter.h 7.13 KB
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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */

#ifndef HPP_FCL_BV_FITTER_H
#define HPP_FCL_BV_FITTER_H

#include <hpp/fcl/BVH/BVH_internal.h>
#include <hpp/fcl/BV/kIOS.h>
#include <hpp/fcl/BV/OBBRSS.h>
#include <hpp/fcl/BV/AABB.h>
#include <iostream>

namespace hpp
{
namespace fcl
{

/// @brief Compute a bounding volume that fits a set of n points.
template<typename BV>
void fit(Vec3f* ps, int n, BV& bv)
{
  for(int i = 0; i < n; ++i)
  {
    bv += ps[i];
  }
}

template<>
void fit<OBB>(Vec3f* ps, int n, OBB& bv);

template<>
void fit<RSS>(Vec3f* ps, int n, RSS& bv);

template<>
void fit<kIOS>(Vec3f* ps, int n, kIOS& bv);

template<>
void fit<OBBRSS>(Vec3f* ps, int n, OBBRSS& bv);

template<>
void fit<AABB>(Vec3f* ps, int n, AABB& bv);

/// @brief The class for the default algorithm fitting a bounding volume to a set of points
template<typename BV>
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class HPP_FCL_DLLAPI BVFitterTpl
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{
public:
  /// @brief default deconstructor
  virtual ~BVFitterTpl() {}

  /// @brief Prepare the geometry primitive data for fitting
  void set(Vec3f* vertices_, Triangle* tri_indices_, BVHModelType type_)
  {
    vertices = vertices_;
    prev_vertices = NULL;
    tri_indices = tri_indices_;
    type = type_;
  }

  /// @brief Prepare the geometry primitive data for fitting, for deformable mesh
  void set(Vec3f* vertices_, Vec3f* prev_vertices_, Triangle* tri_indices_, BVHModelType type_)
  {
    vertices = vertices_;
    prev_vertices = prev_vertices_;
    tri_indices = tri_indices_;
    type = type_;
  }

  /// @brief Compute the fitting BV
  virtual BV fit(unsigned int* primitive_indices, int num_primitives) = 0;

  /// @brief Clear the geometry primitive data
  void clear()
  {
    vertices = NULL;
    prev_vertices = NULL;
    tri_indices = NULL;
    type = BVH_MODEL_UNKNOWN;
  }

protected:

  Vec3f* vertices;
  Vec3f* prev_vertices;
  Triangle* tri_indices;
  BVHModelType type;
};

/// @brief The class for the default algorithm fitting a bounding volume to a set of points
template<typename BV>
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class HPP_FCL_DLLAPI BVFitter : public BVFitterTpl<BV>
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{
public:
  /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
  /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data
  BV fit(unsigned int* primitive_indices, int num_primitives)
  {
    BV bv;

    if(type == BVH_MODEL_TRIANGLES)             /// The primitive is triangle
    {
      for(int i = 0; i < num_primitives; ++i)
      {
        Triangle t = tri_indices[primitive_indices[i]];
        bv += vertices[t[0]];
        bv += vertices[t[1]];
        bv += vertices[t[2]];

        if(prev_vertices)                      /// can fitting both current and previous frame
        {
          bv += prev_vertices[t[0]];
          bv += prev_vertices[t[1]];
          bv += prev_vertices[t[2]];
        }
      }
    }
    else if(type == BVH_MODEL_POINTCLOUD)       /// The primitive is point
    {
      for(int i = 0; i < num_primitives; ++i)
      {
        bv += vertices[primitive_indices[i]];

        if(prev_vertices)                       /// can fitting both current and previous frame
        {
          bv += prev_vertices[primitive_indices[i]];
        }
      }
    }

    return bv;
  }

protected:
  using BVFitterTpl<BV>::vertices;
  using BVFitterTpl<BV>::prev_vertices;
  using BVFitterTpl<BV>::tri_indices;
  using BVFitterTpl<BV>::type;
};

/// @brief Specification of BVFitter for OBB bounding volume
template<>
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class HPP_FCL_DLLAPI BVFitter<OBB> : public BVFitterTpl<OBB>
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{
public:
  /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
  /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data.
  OBB fit(unsigned int* primitive_indices, int num_primitives);
};

/// @brief Specification of BVFitter for RSS bounding volume
template<>
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class HPP_FCL_DLLAPI BVFitter<RSS> : public BVFitterTpl<RSS>
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{
public:
  /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
  /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data.
  RSS fit(unsigned int* primitive_indices, int num_primitives);
};

/// @brief Specification of BVFitter for kIOS bounding volume
template<>
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class HPP_FCL_DLLAPI BVFitter<kIOS> : public BVFitterTpl<kIOS>
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{
public:
  /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
  /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data.
  kIOS fit(unsigned int* primitive_indices, int num_primitives);
};

/// @brief Specification of BVFitter for OBBRSS bounding volume
template<>
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class HPP_FCL_DLLAPI BVFitter<OBBRSS> : public BVFitterTpl<OBBRSS>
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{
public:
  /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
  /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data.
  OBBRSS fit(unsigned int* primitive_indices, int num_primitives);
};

/// @brief Specification of BVFitter for AABB bounding volume
template<>
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class HPP_FCL_DLLAPI BVFitter<AABB> : public BVFitterTpl<AABB>
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{
public:
  /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
  /// The primitive data was set by set function and primitive_indices is the primitive index relative to the data.
  AABB fit(unsigned int* primitive_indices, int num_primitives);
};

}

} // namespace hpp

#endif