BVH_utility.h
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00001 /*
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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
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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:30