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Add GenerateBVHSubModel variants #308

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merged 23 commits into from
Jul 11, 2018
Merged

Add GenerateBVHSubModel variants #308

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d9cf0be
Add GenerateBVHSubModel variants
Jun 20, 2018
4753f47
Refactor to use boolean to choose submodel
Jun 20, 2018
cd683c2
Add doxygen group comments and change boolean name
Jul 4, 2018
65aa330
Use enum class instead of boolean
Jul 4, 2018
de29f8f
Clearer naming of total triangle variable
Jul 4, 2018
5184591
Add unit tests for generateBVHModel
Jul 4, 2018
72a7dd6
Remove some hardcoding in unit test
Jul 4, 2018
0ba7815
Remove hardcoding in testEllipsoid
Jul 5, 2018
5f407e9
Remove hardcoding in testSphere
Jul 5, 2018
e15642f
Improve TestBox
Jul 5, 2018
685b917
Change loop ordering in for performance
Jul 5, 2018
2a34839
Add casts to remove compiler warnings
Jul 5, 2018
72131a9
Formatting and whitespace
Jul 5, 2018
eeab6b8
More elaborate comments
Jul 6, 2018
7361dfa
Better comments and addTriangles() function
Jul 9, 2018
45647be
Refactor test to use checkNumVerticesAndTris
Jul 9, 2018
beb1009
Add error handling to generateBVHModel
Jul 9, 2018
77a119b
Add test for adding to closed models
Jul 9, 2018
3dcafd8
Range based for loops in testBVHModel
Jul 9, 2018
7c11d0d
Better commenting
Jul 9, 2018
e54d832
Refactor unit tests for generateBVHModel
Jul 10, 2018
943b65e
Add hard-coding in unit test for box
Jul 11, 2018
3a480ac
Remove unit test for primitive generation
Jul 11, 2018
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142 changes: 84 additions & 58 deletions include/fcl/geometry/geometric_shape_to_BVH_model-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ namespace fcl

//==============================================================================
template<typename BV>
void generateBVHModel(BVHModel<BV>& model, const Box<typename BV::S>& shape, const Transform3<typename BV::S>& pose)
void generateBVHModel(BVHModel<BV>& model, const Box<typename BV::S>& shape, const Transform3<typename BV::S>& pose, FinalizeModel finalize_model)
{
using S = typename BV::S;

Expand Down Expand Up @@ -81,15 +81,21 @@ void generateBVHModel(BVHModel<BV>& model, const Box<typename BV::S>& shape, con
points[i] = pose * points[i];
}

model.beginModel();
if(model.build_state == BVH_BUILD_STATE_EMPTY){
model.beginModel();
}

model.addSubModel(points, tri_indices);
model.endModel();
model.computeLocalAABB();
if(finalize_model == FinalizeModel::DO_FINALIZE){
model.endModel();
model.computeLocalAABB();
}
}


//==============================================================================
template<typename BV>
void generateBVHModel(BVHModel<BV>& model, const Sphere<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int seg, unsigned int ring)
void generateBVHModel(BVHModel<BV>& model, const Sphere<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int seg, unsigned int ring, FinalizeModel finalize_model)
{
using S = typename BV::S;

Expand Down Expand Up @@ -148,15 +154,20 @@ void generateBVHModel(BVHModel<BV>& model, const Sphere<typename BV::S>& shape,
points[i] = pose * points[i];
}

model.beginModel();
if(model.build_state == BVH_BUILD_STATE_EMPTY){
model.beginModel();
}

model.addSubModel(points, tri_indices);
model.endModel();
model.computeLocalAABB();
if(finalize_model == FinalizeModel::DO_FINALIZE){
model.endModel();
model.computeLocalAABB();
}
}

//==============================================================================
template<typename BV>
void generateBVHModel(BVHModel<BV>& model, const Sphere<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int n_faces_for_unit_sphere)
void generateBVHModel(BVHModel<BV>& model, const Sphere<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int n_faces_for_unit_sphere, FinalizeModel finalize_model)
{
using S = typename BV::S;

Expand All @@ -165,12 +176,12 @@ void generateBVHModel(BVHModel<BV>& model, const Sphere<typename BV::S>& shape,
unsigned int ring = ceil(n_low_bound);
unsigned int seg = ceil(n_low_bound);

generateBVHModel(model, shape, pose, seg, ring);
generateBVHModel(model, shape, pose, seg, ring, finalize_model);
}

//==============================================================================
template<typename BV>
void generateBVHModel(BVHModel<BV>& model, const Ellipsoid<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int seg, unsigned int ring)
void generateBVHModel(BVHModel<BV>& model, const Ellipsoid<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int seg, unsigned int ring, FinalizeModel finalize_model)
{
using S = typename BV::S;

Expand Down Expand Up @@ -232,15 +243,20 @@ void generateBVHModel(BVHModel<BV>& model, const Ellipsoid<typename BV::S>& shap
points[i] = pose * points[i];
}

model.beginModel();
if(model.build_state == BVH_BUILD_STATE_EMPTY){
model.beginModel();
}

model.addSubModel(points, tri_indices);
model.endModel();
model.computeLocalAABB();
if(finalize_model == FinalizeModel::DO_FINALIZE){
model.endModel();
model.computeLocalAABB();
}
}

//==============================================================================
template<typename BV>
void generateBVHModel(BVHModel<BV>& model, const Ellipsoid<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int n_faces_for_unit_ellipsoid)
void generateBVHModel(BVHModel<BV>& model, const Ellipsoid<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int n_faces_for_unit_ellipsoid, FinalizeModel finalize_model)
{
using S = typename BV::S;

Expand All @@ -256,12 +272,12 @@ void generateBVHModel(BVHModel<BV>& model, const Ellipsoid<typename BV::S>& shap
const unsigned int ring = std::ceil(n_low_bound);
const unsigned int seg = std::ceil(n_low_bound);

generateBVHModel(model, shape, pose, seg, ring);
generateBVHModel(model, shape, pose, seg, ring, finalize_model);
}

//==============================================================================
template<typename BV>
void generateBVHModel(BVHModel<BV>& model, const Cylinder<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int tot, unsigned int h_num)
void generateBVHModel(BVHModel<BV>& model, const Cylinder<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int circle_split_tot, unsigned int h_num, FinalizeModel finalize_model)
{
using S = typename BV::S;

Expand All @@ -272,45 +288,45 @@ void generateBVHModel(BVHModel<BV>& model, const Cylinder<typename BV::S>& shape
S h = shape.lz;
S phi, phid;
const S pi = constants<S>::pi();
phid = pi * 2 / tot;
phid = pi * 2 / circle_split_tot;
phi = 0;

S hd = h / h_num;

for(unsigned int i = 0; i < tot; ++i)
for(unsigned int i = 0; i < circle_split_tot; ++i)
points.emplace_back(r * cos(phi + phid * i), r * sin(phi + phid * i), h / 2);

for(unsigned int i = 0; i < h_num - 1; ++i)
{
for(unsigned int j = 0; j < tot; ++j)
for(unsigned int j = 0; j < circle_split_tot; ++j)
{
points.emplace_back(r * cos(phi + phid * j), r * sin(phi + phid * j), h / 2 - (i + 1) * hd);
}
}

for(unsigned int i = 0; i < tot; ++i)
for(unsigned int i = 0; i < circle_split_tot; ++i)
points.emplace_back(r * cos(phi + phid * i), r * sin(phi + phid * i), - h / 2);

points.emplace_back(0, 0, h / 2);
points.emplace_back(0, 0, -h / 2);

for(unsigned int i = 0; i < tot; ++i)
tri_indices.emplace_back((h_num + 1) * tot, i, ((i == tot - 1) ? 0 : (i + 1)));
for(unsigned int i = 0; i < circle_split_tot; ++i)
tri_indices.emplace_back((h_num + 1) * circle_split_tot, i, ((i == circle_split_tot - 1) ? 0 : (i + 1)));

for(unsigned int i = 0; i < tot; ++i)
tri_indices.emplace_back((h_num + 1) * tot + 1, h_num * tot + ((i == tot - 1) ? 0 : (i + 1)), h_num * tot + i);
for(unsigned int i = 0; i < circle_split_tot; ++i)
tri_indices.emplace_back((h_num + 1) * circle_split_tot + 1, h_num * circle_split_tot + ((i == circle_split_tot - 1) ? 0 : (i + 1)), h_num * circle_split_tot + i);

for(unsigned int i = 0; i < h_num; ++i)
{
for(unsigned int j = 0; j < tot; ++j)
for(unsigned int j = 0; j < circle_split_tot; ++j)
{
int a, b, c, d;
a = j;
b = (j == tot - 1) ? 0 : (j + 1);
c = j + tot;
d = (j == tot - 1) ? tot : (j + 1 + tot);
b = (j == circle_split_tot - 1) ? 0 : (j + 1);
c = j + circle_split_tot;
d = (j == circle_split_tot - 1) ? circle_split_tot : (j + 1 + circle_split_tot);

int start = i * tot;
int start = i * circle_split_tot;
tri_indices.emplace_back(start + b, start + a, start + c);
tri_indices.emplace_back(start + b, start + c, start + d);
}
Expand All @@ -321,35 +337,39 @@ void generateBVHModel(BVHModel<BV>& model, const Cylinder<typename BV::S>& shape
points[i] = pose * points[i];
}

model.beginModel();
if(model.build_state == BVH_BUILD_STATE_EMPTY){
model.beginModel();
}

model.addSubModel(points, tri_indices);
model.endModel();
model.computeLocalAABB();
if(finalize_model == FinalizeModel::DO_FINALIZE){
model.endModel();
model.computeLocalAABB();
}
}

//==============================================================================
template<typename BV>
void generateBVHModel(BVHModel<BV>& model, const Cylinder<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int tot_for_unit_cylinder)
void generateBVHModel(BVHModel<BV>& model, const Cylinder<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int circle_split_tot_for_unit_cylinder, FinalizeModel finalize_model)
{
using S = typename BV::S;

S r = shape.radius;
S h = shape.lz;

const S pi = constants<S>::pi();
unsigned int tot = tot_for_unit_cylinder * r;
S phid = pi * 2 / tot;
unsigned int circle_split_tot = circle_split_tot_for_unit_cylinder * r;
S phid = pi * 2 / circle_split_tot;

S circle_edge = phid * r;
unsigned int h_num = ceil(h / circle_edge);

generateBVHModel(model, shape, pose, tot, h_num);
generateBVHModel(model, shape, pose, circle_split_tot, h_num, finalize_model);
}


//==============================================================================
template<typename BV>
void generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int tot, unsigned int h_num)
void generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int circle_split_tot, unsigned int h_num, FinalizeModel finalize_model)
{
using S = typename BV::S;

Expand All @@ -361,7 +381,7 @@ void generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, co

S phi, phid;
const S pi = constants<S>::pi();
phid = pi * 2 / tot;
phid = pi * 2 / circle_split_tot;
phi = 0;

S hd = h / h_num;
Expand All @@ -370,35 +390,35 @@ void generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, co
{
S h_i = h / 2 - (i + 1) * hd;
S rh = r * (0.5 - h_i / h);
for(unsigned int j = 0; j < tot; ++j)
for(unsigned int j = 0; j < circle_split_tot; ++j)
{
points.emplace_back(rh * cos(phi + phid * j), rh * sin(phi + phid * j), h_i);
}
}

for(unsigned int i = 0; i < tot; ++i)
for(unsigned int i = 0; i < circle_split_tot; ++i)
points.emplace_back(r * cos(phi + phid * i), r * sin(phi + phid * i), - h / 2);

points.emplace_back(0, 0, h / 2);
points.emplace_back(0, 0, -h / 2);

for(unsigned int i = 0; i < tot; ++i)
tri_indices.emplace_back(h_num * tot, i, (i == tot - 1) ? 0 : (i + 1));
for(unsigned int i = 0; i < circle_split_tot; ++i)
tri_indices.emplace_back(h_num * circle_split_tot, i, (i == circle_split_tot - 1) ? 0 : (i + 1));

for(unsigned int i = 0; i < tot; ++i)
tri_indices.emplace_back(h_num * tot + 1, (h_num - 1) * tot + ((i == tot - 1) ? 0 : (i + 1)), (h_num - 1) * tot + i);
for(unsigned int i = 0; i < circle_split_tot; ++i)
tri_indices.emplace_back(h_num * circle_split_tot + 1, (h_num - 1) * circle_split_tot + ((i == circle_split_tot - 1) ? 0 : (i + 1)), (h_num - 1) * circle_split_tot + i);

for(unsigned int i = 0; i < h_num - 1; ++i)
{
for(unsigned int j = 0; j < tot; ++j)
for(unsigned int j = 0; j < circle_split_tot; ++j)
{
int a, b, c, d;
a = j;
b = (j == tot - 1) ? 0 : (j + 1);
c = j + tot;
d = (j == tot - 1) ? tot : (j + 1 + tot);
b = (j == circle_split_tot - 1) ? 0 : (j + 1);
c = j + circle_split_tot;
d = (j == circle_split_tot - 1) ? circle_split_tot : (j + 1 + circle_split_tot);

int start = i * tot;
int start = i * circle_split_tot;
tri_indices.emplace_back(start + b, start + a, start + c);
tri_indices.emplace_back(start + b, start + c, start + d);
}
Expand All @@ -409,31 +429,37 @@ void generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, co
points[i] = pose * points[i];
}

model.beginModel();
if(model.build_state == BVH_BUILD_STATE_EMPTY){
model.beginModel();
}

model.addSubModel(points, tri_indices);
model.endModel();
model.computeLocalAABB();
if(finalize_model == FinalizeModel::DO_FINALIZE){
model.endModel();
model.computeLocalAABB();
}
}

//==============================================================================
template<typename BV>
void generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int tot_for_unit_cone)
void generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int circle_split_tot_for_unit_cylinder, FinalizeModel finalize_model)
{
using S = typename BV::S;

S r = shape.radius;
S h = shape.lz;

const S pi = constants<S>::pi();
unsigned int tot = tot_for_unit_cone * r;
S phid = pi * 2 / tot;
unsigned int circle_split_tot = circle_split_tot_for_unit_cylinder * r;
S phid = pi * 2 / circle_split_tot;

S circle_edge = phid * r;
unsigned int h_num = ceil(h / circle_edge);

generateBVHModel(model, shape, pose, tot, h_num);
generateBVHModel(model, shape, pose, circle_split_tot, h_num, finalize_model);
}

} // namespace fcl

#endif

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