BVH_model.h 12.3 KB
Newer Older
sachinc's avatar
sachinc committed
1
2
3
/*
 * Software License Agreement (BSD License)
 *
4
5
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
sachinc's avatar
sachinc committed
6
7
8
9
10
11
12
13
14
15
16
17
 *  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.
18
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
sachinc's avatar
sachinc committed
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
 *     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 */

Joseph Mirabel's avatar
Joseph Mirabel committed
38
39
#ifndef HPP_FCL_BVH_MODEL_H
#define HPP_FCL_BVH_MODEL_H
sachinc's avatar
sachinc committed
40

41
42
43
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/BVH/BVH_internal.h>
#include <hpp/fcl/BV/BV_node.h>
sachinc's avatar
sachinc committed
44
45
#include <vector>
#include <boost/shared_ptr.hpp>
Ioan Sucan's avatar
Ioan Sucan committed
46
#include <boost/noncopyable.hpp>
sachinc's avatar
sachinc committed
47

48
49
namespace hpp
{
sachinc's avatar
sachinc committed
50
51
52
namespace fcl
{

53
54
class ConvexBase;

55
56
57
template <typename BV> class BVFitter;
template <typename BV> class BVSplitter;

58
59
/// @brief A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
class BVHModelBase : public CollisionGeometry
sachinc's avatar
sachinc committed
60
61
{
public:
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
  /// @brief Geometry point data
  Vec3f* vertices;

  /// @brief Geometry triangle index data, will be NULL for point clouds
  Triangle* tri_indices;

  /// @brief Geometry point data in previous frame
  Vec3f* prev_vertices;

  /// @brief Number of triangles
  int num_tris;

  /// @brief Number of points
  int num_vertices;

  /// @brief The state of BVH building process
  BVHBuildState build_state;

80
81
  /// @brief Convex<Triangle> representation of this object
  boost::shared_ptr< ConvexBase > convex;
82
  
jpan's avatar
jpan committed
83
  /// @brief Model type described by the instance
sachinc's avatar
sachinc committed
84
85
86
87
88
89
90
91
92
93
  BVHModelType getModelType() const
  {
    if(num_tris && num_vertices)
      return BVH_MODEL_TRIANGLES;
    else if(num_vertices)
      return BVH_MODEL_POINTCLOUD;
    else
      return BVH_MODEL_UNKNOWN;
  }

jpan's avatar
jpan committed
94
  /// @brief Constructing an empty BVH
95
96
97
98
99
100
101
102
103
  BVHModelBase() : vertices(NULL),
                   tri_indices(NULL),
                   prev_vertices(NULL),
                   num_tris(0),
                   num_vertices(0),
                   build_state(BVH_BUILD_STATE_EMPTY),
                   num_tris_allocated(0),
                   num_vertices_allocated(0),
                   num_vertex_updated(0)
sachinc's avatar
sachinc committed
104
105
106
  {
  }

jpan's avatar
jpan committed
107
  /// @brief copy from another BVH
108
  BVHModelBase(const BVHModelBase& other);
sachinc's avatar
sachinc committed
109

jpan's avatar
jpan committed
110
  /// @brief deconstruction, delete mesh data related.
111
  virtual ~BVHModelBase ()
sachinc's avatar
sachinc committed
112
113
114
115
116
117
  {
    delete [] vertices;
    delete [] tri_indices;
    delete [] prev_vertices;
  }

jpan's avatar
jpan committed
118
  /// @brief Get the object type: it is a BVH
sachinc's avatar
sachinc committed
119
120
  OBJECT_TYPE getObjectType() const { return OT_BVH; }

jpan's avatar
jpan committed
121
  /// @brief Compute the AABB for the BVH, used for broad-phase collision
122
  void computeLocalAABB();
sachinc's avatar
sachinc committed
123

jpan's avatar
jpan committed
124
  /// @brief Begin a new BVH model
sachinc's avatar
sachinc committed
125
126
  int beginModel(int num_tris = 0, int num_vertices = 0);

jpan's avatar
jpan committed
127
  /// @brief Add one point in the new BVH model
sachinc's avatar
sachinc committed
128
129
  int addVertex(const Vec3f& p);

jpan's avatar
jpan committed
130
  /// @brief Add one triangle in the new BVH model
sachinc's avatar
sachinc committed
131
132
  int addTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

jpan's avatar
jpan committed
133
  /// @brief Add a set of triangles in the new BVH model
sachinc's avatar
sachinc committed
134
135
  int addSubModel(const std::vector<Vec3f>& ps, const std::vector<Triangle>& ts);

jpan's avatar
jpan committed
136
  /// @brief Add a set of points in the new BVH model
sachinc's avatar
sachinc committed
137
138
  int addSubModel(const std::vector<Vec3f>& ps);

jpan's avatar
jpan committed
139
  /// @brief End BVH model construction, will build the bounding volume hierarchy
sachinc's avatar
sachinc committed
140
141
  int endModel();

jpan's avatar
jpan committed
142
  /// @brief Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame)
sachinc's avatar
sachinc committed
143
144
  int beginReplaceModel();

jpan's avatar
jpan committed
145
  /// @brief Replace one point in the old BVH model
sachinc's avatar
sachinc committed
146
147
  int replaceVertex(const Vec3f& p);

jpan's avatar
jpan committed
148
  /// @brief Replace one triangle in the old BVH model
sachinc's avatar
sachinc committed
149
150
  int replaceTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

jpan's avatar
jpan committed
151
  /// @brief Replace a set of points in the old BVH model
sachinc's avatar
sachinc committed
152
153
  int replaceSubModel(const std::vector<Vec3f>& ps);

jpan's avatar
jpan committed
154
  /// @brief End BVH model replacement, will also refit or rebuild the bounding volume hierarchy
sachinc's avatar
sachinc committed
155
156
  int endReplaceModel(bool refit = true, bool bottomup = true);

jpan's avatar
jpan committed
157
158
  /// @brief 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.
sachinc's avatar
sachinc committed
159
160
  int beginUpdateModel();

jpan's avatar
jpan committed
161
  /// @brief Update one point in the old BVH model
sachinc's avatar
sachinc committed
162
163
  int updateVertex(const Vec3f& p);

jpan's avatar
jpan committed
164
  /// @brief Update one triangle in the old BVH model
sachinc's avatar
sachinc committed
165
166
  int updateTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

jpan's avatar
jpan committed
167
  /// @brief Update a set of points in the old BVH model
sachinc's avatar
sachinc committed
168
169
  int updateSubModel(const std::vector<Vec3f>& ps);

jpan's avatar
jpan committed
170
  /// @brief End BVH model update, will also refit or rebuild the bounding volume hierarchy
sachinc's avatar
sachinc committed
171
172
  int endUpdateModel(bool refit = true, bool bottomup = true);

173
174
175
  /// @brief Build this Convex<Triangle> representation of this model.
  /// \note this only takes the points of this model. It does not check that the
  ///       object is convex. It does not compute a convex hull.
176
177
178
  void buildConvexRepresentation(bool share_memory);

  virtual int memUsage(int msg) const = 0;
179
180

  /// @brief 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 
jpan's avatar
jpan committed
181
  /// BV node. When traversing the BVH, this can save one matrix transformation.
182
  virtual void makeParentRelative() = 0;
jpan's avatar
   
jpan committed
183

panjia1983's avatar
panjia1983 committed
184
185
186
  Vec3f computeCOM() const
  {
    FCL_REAL vol = 0;
Joseph Mirabel's avatar
Joseph Mirabel committed
187
    Vec3f com(0,0,0);
panjia1983's avatar
panjia1983 committed
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
    for(int i = 0; i < num_tris; ++i)
    {
      const Triangle& tri = tri_indices[i];
      FCL_REAL d_six_vol = (vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
      vol += d_six_vol;
      com += (vertices[tri[0]] + vertices[tri[1]] + vertices[tri[2]]) * d_six_vol;
    }

    return com / (vol * 4);
  }

  FCL_REAL computeVolume() const
  {
    FCL_REAL vol = 0;
    for(int i = 0; i < num_tris; ++i)
    {
      const Triangle& tri = tri_indices[i];
      FCL_REAL d_six_vol = (vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
      vol += d_six_vol;
    }

    return vol / 6;
  }

  Matrix3f computeMomentofInertia() const
  {
214
    Matrix3f C = Matrix3f::Zero();
panjia1983's avatar
panjia1983 committed
215

216
217
218
219
    Matrix3f C_canonical;
    C_canonical << 1/60.0, 1/120.0, 1/120.0,
                   1/120.0, 1/60.0, 1/120.0,
                   1/120.0, 1/120.0, 1/60.0;
panjia1983's avatar
panjia1983 committed
220
221
222
223
224
225
226

    for(int i = 0; i < num_tris; ++i)
    {
      const Triangle& tri = tri_indices[i];
      const Vec3f& v1 = vertices[tri[0]];
      const Vec3f& v2 = vertices[tri[1]];
      const Vec3f& v3 = vertices[tri[2]];
227
      Matrix3f A; A << v1.transpose(), v2.transpose(), v3.transpose();
228
      C += A.derived().transpose() * C_canonical * A * (v1.cross(v2)).dot(v3);
panjia1983's avatar
panjia1983 committed
229
230
    }

231
    return C.trace() * Matrix3f::Identity() - C;
panjia1983's avatar
panjia1983 committed
232
233
  }

234
235
236
237
238
239
240
241
242
protected:
  virtual void deleteBVs() = 0;
  virtual bool allocateBVs() = 0;

  /// @brief Build the bounding volume hierarchy
  virtual int buildTree() = 0;

  /// @brief Refit the bounding volume hierarchy
  virtual int refitTree(bool bottomup) = 0;
sachinc's avatar
sachinc committed
243

jpan's avatar
jpan committed
244
245
246
  int num_tris_allocated;
  int num_vertices_allocated;
  int num_vertex_updated; /// for ccd vertex update
247
248
249
250
251
252
253
254
255
};

/// @brief A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
template<typename BV>
class BVHModel : public BVHModelBase
{

public:
  /// @brief Split rule to split one BV node into two children
256
  boost::shared_ptr<BVSplitter<BV> > bv_splitter;
257
258

  /// @brief Fitting rule to fit a BV node to a set of geometry primitives
259
  boost::shared_ptr<BVFitter<BV> > bv_fitter;
260
261

  /// @brief Constructing an empty BVH
262
  BVHModel();
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314

  /// @brief copy from another BVH
  BVHModel(const BVHModel& other);

  /// @brief deconstruction, delete mesh data related.
  ~BVHModel()
  {
    delete [] bvs;
    delete [] primitive_indices;
  }

  /// @brief We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here
  
  /// @brief Access the bv giving the its index
  const BVNode<BV>& getBV(int id) const
  {
    assert (id < num_bvs);
    return bvs[id];
  }

  /// @brief Access the bv giving the its index
  BVNode<BV>& getBV(int id)
  {
    assert (id < num_bvs);
    return bvs[id];
  }

  /// @brief Get the number of bv in the BVH
  int getNumBVs() const
  {
    return num_bvs;
  }

  /// @brief Get the BV type: default is unknown
  NODE_TYPE getNodeType() const { return BV_UNKNOWN; }

  /// @brief Check the number of memory used
  int memUsage(int msg) const;

  /// @brief 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.
  void makeParentRelative()
  {
    Matrix3f I (Matrix3f::Identity());
    makeParentRelativeRecurse(0, I, Vec3f());
  }

private:
  void deleteBVs();
  bool allocateBVs();

  int num_bvs_allocated;
jpan's avatar
jpan committed
315
316
317
  unsigned int* primitive_indices;

  /// @brief Bounding volume hierarchy
sachinc's avatar
sachinc committed
318
319
  BVNode<BV>* bvs;

jpan's avatar
jpan committed
320
  /// @brief Number of BV nodes in bounding volume hierarchy
sachinc's avatar
sachinc committed
321
322
  int num_bvs;

jpan's avatar
jpan committed
323
  /// @brief Build the bounding volume hierarchy
sachinc's avatar
sachinc committed
324
325
  int buildTree();

jpan's avatar
jpan committed
326
  /// @brief Refit the bounding volume hierarchy
sachinc's avatar
sachinc committed
327
328
  int refitTree(bool bottomup);

jpan's avatar
jpan committed
329
  /// @brief Refit the bounding volume hierarchy in a top-down way (slow but more compact)
sachinc's avatar
sachinc committed
330
331
  int refitTree_topdown();

jpan's avatar
jpan committed
332
  /// @brief Refit the bounding volume hierarchy in a bottom-up way (fast but less compact)
sachinc's avatar
sachinc committed
333
334
  int refitTree_bottomup();

jpan's avatar
jpan committed
335
  /// @brief Recursive kernel for hierarchy construction
sachinc's avatar
sachinc committed
336
337
  int recursiveBuildTree(int bv_id, int first_primitive, int num_primitives);

jpan's avatar
jpan committed
338
  /// @brief Recursive kernel for bottomup refitting 
sachinc's avatar
sachinc committed
339
340
  int recursiveRefitTree_bottomup(int bv_id);

jpan's avatar
jpan committed
341
342
  /// @recursively compute each bv's transform related to its parent. For default BV, only the translation works. 
  /// For oriented BV (OBB, RSS, OBBRSS), special implementation is provided.
Joseph Mirabel's avatar
Joseph Mirabel committed
343
  void makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c)
jpan's avatar
   
jpan committed
344
345
346
  {
    if(!bvs[bv_id].isLeaf())
    {
Joseph Mirabel's avatar
Joseph Mirabel committed
347
      makeParentRelativeRecurse(bvs[bv_id].first_child, parent_axes, bvs[bv_id].getCenter());
jpan's avatar
   
jpan committed
348

Joseph Mirabel's avatar
Joseph Mirabel committed
349
      makeParentRelativeRecurse(bvs[bv_id].first_child + 1, parent_axes, bvs[bv_id].getCenter());
jpan's avatar
   
jpan committed
350
351
    }

jpan's avatar
jpan committed
352
    bvs[bv_id].bv = translate(bvs[bv_id].bv, -parent_c);
jpan's avatar
   
jpan committed
353
  }
sachinc's avatar
sachinc committed
354
355
};

jpan's avatar
   
jpan committed
356

jpan's avatar
jpan committed
357
template<>
Joseph Mirabel's avatar
Joseph Mirabel committed
358
void BVHModel<OBB>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);
jpan's avatar
jpan committed
359
360

template<>
Joseph Mirabel's avatar
Joseph Mirabel committed
361
void BVHModel<RSS>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);
jpan's avatar
jpan committed
362
363

template<>
Joseph Mirabel's avatar
Joseph Mirabel committed
364
void BVHModel<OBBRSS>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);
jpan's avatar
jpan committed
365
366
367


/// @brief Specialization of getNodeType() for BVHModel with different BV types
sachinc's avatar
sachinc committed
368
369
370
371
372
373
374
375
376
template<>
NODE_TYPE BVHModel<AABB>::getNodeType() const;

template<>
NODE_TYPE BVHModel<OBB>::getNodeType() const;

template<>
NODE_TYPE BVHModel<RSS>::getNodeType() const;

377
378
379
template<>
NODE_TYPE BVHModel<kIOS>::getNodeType() const;

jpan's avatar
   
jpan committed
380
381
382
template<>
NODE_TYPE BVHModel<OBBRSS>::getNodeType() const;

sachinc's avatar
sachinc committed
383
384
385
386
387
388
389
390
391
392
393
template<>
NODE_TYPE BVHModel<KDOP<16> >::getNodeType() const;

template<>
NODE_TYPE BVHModel<KDOP<18> >::getNodeType() const;

template<>
NODE_TYPE BVHModel<KDOP<24> >::getNodeType() const;

}

394
395
} // namespace hpp

sachinc's avatar
sachinc committed
396
#endif