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OBBTree.h
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1 #ifndef SimTK_SIMMATH_OBB_TREE_H_
2 #define SimTK_SIMMATH_OBB_TREE_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm): SimTKmath *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2011-12 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
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20  * Unless required by applicable law or agreed to in writing, software *
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23  * See the License for the specific language governing permissions and *
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26 
30 #include "SimTKcommon.h"
32 #include "simmath/internal/Geo.h"
35 
36 #include <cassert>
37 
38 namespace SimTK {
39 
40 //==============================================================================
41 // OBB LEAF
42 //==============================================================================
44 class OBBLeaf {
45 public:
46  virtual ~OBBLeaf() {}
47 };
48 
49 //==============================================================================
50 // OBB NODE
51 //==============================================================================
54 public:
55  OBBNode() : contents(0) {clear();}
56  ~OBBNode() {clear();}
57 
58  void clear() {
59  delete contents; contents=0;
60  x0=y0=nx=ny=-1;
61  children.clear();
62  }
63 
64  bool isLeaf() const {return children.empty();}
65  int getNumChildren() const {return (int)children.size();}
66  const OBBNode& getChild(int i) const {return children[i];}
67  OBBNode& updChild(int i) {return children[i];}
68 
69  // A box enclosing the contents.
71  int depth; // 0 is root
72  int height; // a leaf is 0, node is max of children+1
73 
74  // A cone enclosing the entire range of normals.
75  UnitVec3 normal; // central normal
76  Real coneHalfAngle; // 0<=a<=pi, pi/2 makes a halfspace
77 
78  // An arbitrary point on the contained surface, used in
79  // distance queries where distance to box is min distance, distance
80  // to point is max distance.
82 
83  int x0,y0; // Range of patches in this node
84  int nx,ny;
85 
87 
88  // If no children, leaf contents:
89  OBBLeaf* contents; // non-null only for leaf (NOT USED YET)
90  Vec2 centerUW; // (u,w) parameters of patch center
91  Vec2 dims; // half-u, half-w sizes
92  Geo::BicubicBezierPatch patch; // TODO: no need to keep this around
93 };
94 
95 
96 //==============================================================================
97 // OBB TREE
98 //==============================================================================
101 public:
102  const OBBNode& getRoot() const {return root;}
103  OBBNode& updRoot() {return root;}
104 private:
105  OBBNode root;
106 };
107 
108 
109 
110 } // namespace SimTK
111 
112 #endif // SimTK_SIMMATH_OBB_TREE_H_
TODO.
Definition: OBBTree.h:53
int depth
Definition: OBBTree.h:71
Defines primitive operations involving 3d rectangular boxes.
void clear()
Definition: OBBTree.h:58
int y0
Definition: OBBTree.h:83
Real coneHalfAngle
Definition: OBBTree.h:76
Geo::BicubicBezierPatch patch
Definition: OBBTree.h:92
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Provides primitive operations for a single bicubic Bezier patch using either single or double precisi...
A primitive useful for computations involving a single bicubic Bezier patch.
Definition: Geo.h:68
Vec2 centerUW
Definition: OBBTree.h:90
const OBBNode & getChild(int i) const
Definition: OBBTree.h:66
OBBNode & updChild(int i)
Definition: OBBTree.h:67
The SimTK::Array_ container class is a plug-compatible replacement for the C++ standard template l...
Definition: Array.h:50
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:577
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
OBBLeaf * contents
Definition: OBBTree.h:89
Defines geometric primitive shapes and algorthms.
~OBBNode()
Definition: OBBTree.h:56
Vec2 dims
Definition: OBBTree.h:91
int height
Definition: OBBTree.h:72
TODO: A 3d box oriented and positioned with respect to an unspecified frame F.
Definition: Geo.h:63
Array_< OBBNode > children
Definition: OBBTree.h:86
This is the header file that every Simmath compilation unit should include first. ...
int getNumChildren() const
Definition: OBBTree.h:65
TODO.
Definition: OBBTree.h:44
virtual ~OBBLeaf()
Definition: OBBTree.h:46
OBBNode & updRoot()
Definition: OBBTree.h:103
TODO.
Definition: OBBTree.h:100
UnitVec3 normal
Definition: OBBTree.h:75
Geo::OrientedBox box
Definition: OBBTree.h:70
bool isLeaf() const
Definition: OBBTree.h:64
Vec3 pointOnSurface
Definition: OBBTree.h:81
const OBBNode & getRoot() const
Definition: OBBTree.h:102
int ny
Definition: OBBTree.h:84
OBBNode()
Definition: OBBTree.h:55
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64