BVH_model.h 11 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
44
45
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/BVH/BVH_internal.h>
#include <hpp/fcl/BV/BV_node.h>
#include <hpp/fcl/BVH/BV_splitter.h>
#include <hpp/fcl/BVH/BV_fitter.h>
sachinc's avatar
sachinc committed
46
47
#include <vector>
#include <boost/shared_ptr.hpp>
Ioan Sucan's avatar
Ioan Sucan committed
48
#include <boost/noncopyable.hpp>
sachinc's avatar
sachinc committed
49

50
51
namespace hpp
{
sachinc's avatar
sachinc committed
52
53
54
namespace fcl
{

jpan's avatar
jpan committed
55
/// @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)
sachinc's avatar
sachinc committed
56
template<typename BV>
57
class BVHModel : public CollisionGeometry
sachinc's avatar
sachinc committed
58
59
60
{

public:
jpan's avatar
jpan committed
61
  /// @brief Model type described by the instance
sachinc's avatar
sachinc committed
62
63
64
65
66
67
68
69
70
71
  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
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
  /// @brief Constructing an empty BVH
  BVHModel() : vertices(NULL),
               tri_indices(NULL),
               prev_vertices(NULL),
               num_tris(0),
               num_vertices(0),
               build_state(BVH_BUILD_STATE_EMPTY),
               bv_splitter(new BVSplitter<BV>(SPLIT_METHOD_MEAN)),
               bv_fitter(new BVFitter<BV>()),
               num_tris_allocated(0),
               num_vertices_allocated(0),
               num_bvs_allocated(0),
               num_vertex_updated(0),
               primitive_indices(NULL),
               bvs(NULL),
               num_bvs(0)
sachinc's avatar
sachinc committed
88
89
90
  {
  }

jpan's avatar
jpan committed
91
92
  /// @brief copy from another BVH
  BVHModel(const BVHModel& other);
sachinc's avatar
sachinc committed
93

jpan's avatar
jpan committed
94
  /// @brief deconstruction, delete mesh data related.
sachinc's avatar
sachinc committed
95
96
97
98
99
100
101
102
103
104
  ~BVHModel()
  {
    delete [] vertices;
    delete [] tri_indices;
    delete [] bvs;

    delete [] prev_vertices;
    delete [] primitive_indices;
  }

jpan's avatar
jpan committed
105
  /// @brief We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here
jpan's avatar
   
jpan committed
106
  
jpan's avatar
jpan committed
107
  /// @brief Access the bv giving the its index
sachinc's avatar
sachinc committed
108
109
110
111
112
  const BVNode<BV>& getBV(int id) const
  {
    return bvs[id];
  }

jpan's avatar
jpan committed
113
  /// @brief Access the bv giving the its index
sachinc's avatar
sachinc committed
114
115
116
117
118
  BVNode<BV>& getBV(int id)
  {
    return bvs[id];
  }

jpan's avatar
jpan committed
119
  /// @brief Get the number of bv in the BVH
sachinc's avatar
sachinc committed
120
121
122
123
124
  int getNumBVs() const
  {
    return num_bvs;
  }

jpan's avatar
jpan committed
125
  /// @brief Get the object type: it is a BVH
sachinc's avatar
sachinc committed
126
127
  OBJECT_TYPE getObjectType() const { return OT_BVH; }

jpan's avatar
jpan committed
128
  /// @brief Get the BV type: default is unknown
sachinc's avatar
sachinc committed
129
130
  NODE_TYPE getNodeType() const { return BV_UNKNOWN; }

jpan's avatar
jpan committed
131
  /// @brief Compute the AABB for the BVH, used for broad-phase collision
132
  void computeLocalAABB();
sachinc's avatar
sachinc committed
133

jpan's avatar
jpan committed
134
  /// @brief Begin a new BVH model
sachinc's avatar
sachinc committed
135
136
  int beginModel(int num_tris = 0, int num_vertices = 0);

jpan's avatar
jpan committed
137
  /// @brief Add one point in the new BVH model
sachinc's avatar
sachinc committed
138
139
  int addVertex(const Vec3f& p);

jpan's avatar
jpan committed
140
  /// @brief Add one triangle in the new BVH model
sachinc's avatar
sachinc committed
141
142
  int addTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

jpan's avatar
jpan committed
143
  /// @brief Add a set of triangles in the new BVH model
sachinc's avatar
sachinc committed
144
145
  int addSubModel(const std::vector<Vec3f>& ps, const std::vector<Triangle>& ts);

jpan's avatar
jpan committed
146
  /// @brief Add a set of points in the new BVH model
sachinc's avatar
sachinc committed
147
148
  int addSubModel(const std::vector<Vec3f>& ps);

jpan's avatar
jpan committed
149
  /// @brief End BVH model construction, will build the bounding volume hierarchy
sachinc's avatar
sachinc committed
150
151
152
  int endModel();


jpan's avatar
jpan committed
153
  /// @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
154
155
  int beginReplaceModel();

jpan's avatar
jpan committed
156
  /// @brief Replace one point in the old BVH model
sachinc's avatar
sachinc committed
157
158
  int replaceVertex(const Vec3f& p);

jpan's avatar
jpan committed
159
  /// @brief Replace one triangle in the old BVH model
sachinc's avatar
sachinc committed
160
161
  int replaceTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

jpan's avatar
jpan committed
162
  /// @brief Replace a set of points in the old BVH model
sachinc's avatar
sachinc committed
163
164
  int replaceSubModel(const std::vector<Vec3f>& ps);

jpan's avatar
jpan committed
165
  /// @brief End BVH model replacement, will also refit or rebuild the bounding volume hierarchy
sachinc's avatar
sachinc committed
166
167
168
  int endReplaceModel(bool refit = true, bool bottomup = true);


jpan's avatar
jpan committed
169
170
  /// @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
171
172
  int beginUpdateModel();

jpan's avatar
jpan committed
173
  /// @brief Update one point in the old BVH model
sachinc's avatar
sachinc committed
174
175
  int updateVertex(const Vec3f& p);

jpan's avatar
jpan committed
176
  /// @brief Update one triangle in the old BVH model
sachinc's avatar
sachinc committed
177
178
  int updateTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

jpan's avatar
jpan committed
179
  /// @brief Update a set of points in the old BVH model
sachinc's avatar
sachinc committed
180
181
  int updateSubModel(const std::vector<Vec3f>& ps);

jpan's avatar
jpan committed
182
  /// @brief End BVH model update, will also refit or rebuild the bounding volume hierarchy
sachinc's avatar
sachinc committed
183
184
  int endUpdateModel(bool refit = true, bool bottomup = true);

jpan's avatar
jpan committed
185
  /// @brief Check the number of memory used
sachinc's avatar
sachinc committed
186
187
  int memUsage(int msg) const;

jpan's avatar
jpan committed
188
189
  /// @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.
jpan's avatar
   
jpan committed
190
191
  void makeParentRelative()
  {
Joseph Mirabel's avatar
Joseph Mirabel committed
192
    Matrix3f I (Matrix3f::Identity());
jpan's avatar
jpan committed
193
    makeParentRelativeRecurse(0, I, Vec3f());
jpan's avatar
   
jpan committed
194
195
  }

panjia1983's avatar
panjia1983 committed
196
197
198
  Vec3f computeCOM() const
  {
    FCL_REAL vol = 0;
Joseph Mirabel's avatar
Joseph Mirabel committed
199
    Vec3f com(0,0,0);
panjia1983's avatar
panjia1983 committed
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
    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
  {
226
    Matrix3f C = Matrix3f::Zero();
panjia1983's avatar
panjia1983 committed
227

228
229
230
231
    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
232
233
234
235
236
237
238

    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]];
239
      Matrix3f A; A << v1.transpose(), v2.transpose(), v3.transpose();
240
      C += A.derived().transpose() * C_canonical * A * (v1.cross(v2)).dot(v3);
panjia1983's avatar
panjia1983 committed
241
242
    }

243
    return C.trace() * Matrix3f::Identity() - C;
panjia1983's avatar
panjia1983 committed
244
245
  }

jpan's avatar
jpan committed
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
public:
  /// @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;

  /// @brief Split rule to split one BV node into two children
  boost::shared_ptr<BVSplitterBase<BV> > bv_splitter;

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

271

sachinc's avatar
sachinc committed
272
273
private:

jpan's avatar
jpan committed
274
275
276
277
278
279
280
281
  int num_tris_allocated;
  int num_vertices_allocated;
  int num_bvs_allocated;
  int num_vertex_updated; /// for ccd vertex update
  unsigned int* primitive_indices;


  /// @brief Bounding volume hierarchy
sachinc's avatar
sachinc committed
282
283
  BVNode<BV>* bvs;

jpan's avatar
jpan committed
284
  /// @brief Number of BV nodes in bounding volume hierarchy
sachinc's avatar
sachinc committed
285
286
  int num_bvs;

jpan's avatar
jpan committed
287
  /// @brief Build the bounding volume hierarchy
sachinc's avatar
sachinc committed
288
289
  int buildTree();

jpan's avatar
jpan committed
290
  /// @brief Refit the bounding volume hierarchy
sachinc's avatar
sachinc committed
291
292
  int refitTree(bool bottomup);

jpan's avatar
jpan committed
293
  /// @brief Refit the bounding volume hierarchy in a top-down way (slow but more compact)
sachinc's avatar
sachinc committed
294
295
  int refitTree_topdown();

jpan's avatar
jpan committed
296
  /// @brief Refit the bounding volume hierarchy in a bottom-up way (fast but less compact)
sachinc's avatar
sachinc committed
297
298
  int refitTree_bottomup();

jpan's avatar
jpan committed
299
  /// @brief Recursive kernel for hierarchy construction
sachinc's avatar
sachinc committed
300
301
  int recursiveBuildTree(int bv_id, int first_primitive, int num_primitives);

jpan's avatar
jpan committed
302
  /// @brief Recursive kernel for bottomup refitting 
sachinc's avatar
sachinc committed
303
304
  int recursiveRefitTree_bottomup(int bv_id);

jpan's avatar
jpan committed
305
306
  /// @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
307
  void makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c)
jpan's avatar
   
jpan committed
308
309
310
  {
    if(!bvs[bv_id].isLeaf())
    {
Joseph Mirabel's avatar
Joseph Mirabel committed
311
      makeParentRelativeRecurse(bvs[bv_id].first_child, parent_axes, bvs[bv_id].getCenter());
jpan's avatar
   
jpan committed
312

Joseph Mirabel's avatar
Joseph Mirabel committed
313
      makeParentRelativeRecurse(bvs[bv_id].first_child + 1, parent_axes, bvs[bv_id].getCenter());
jpan's avatar
   
jpan committed
314
315
    }

jpan's avatar
jpan committed
316
    bvs[bv_id].bv = translate(bvs[bv_id].bv, -parent_c);
jpan's avatar
   
jpan committed
317
  }
sachinc's avatar
sachinc committed
318
319
};

jpan's avatar
   
jpan committed
320

jpan's avatar
jpan committed
321
template<>
Joseph Mirabel's avatar
Joseph Mirabel committed
322
void BVHModel<OBB>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);
jpan's avatar
jpan committed
323
324

template<>
Joseph Mirabel's avatar
Joseph Mirabel committed
325
void BVHModel<RSS>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);
jpan's avatar
jpan committed
326
327

template<>
Joseph Mirabel's avatar
Joseph Mirabel committed
328
void BVHModel<OBBRSS>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);
jpan's avatar
jpan committed
329
330
331


/// @brief Specialization of getNodeType() for BVHModel with different BV types
sachinc's avatar
sachinc committed
332
333
334
335
336
337
338
339
340
template<>
NODE_TYPE BVHModel<AABB>::getNodeType() const;

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

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

341
342
343
template<>
NODE_TYPE BVHModel<kIOS>::getNodeType() const;

jpan's avatar
   
jpan committed
344
345
346
template<>
NODE_TYPE BVHModel<OBBRSS>::getNodeType() const;

sachinc's avatar
sachinc committed
347
348
349
350
351
352
353
354
355
356
357
template<>
NODE_TYPE BVHModel<KDOP<16> >::getNodeType() const;

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

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

}

358
359
} // namespace hpp

sachinc's avatar
sachinc committed
360
#endif