bool initialize(PointCloudMeshCollisionTraversalNodeRSS& node, BVHModel<RSS>& model1, const BVHModel<RSS>& model2,
BVH_REAL collision_prob_threshold,
int leaf_size_threshold,
int num_max_contacts,
bool exhaustive,
bool enable_contact,
BVH_REAL expand_r)
{
if(!(model1.getModelType() == BVH_MODEL_TRIANGLES || model1.getModelType() == BVH_MODEL_POINTCLOUD) || model2.getModelType() != BVH_MODEL_TRIANGLES)
return false;
node.model1 = &model1;
node.model2 = &model2;
node.vertices1 = model1.vertices;
node.vertices2 = model2.vertices;
node.tri_indices2 = model2.tri_indices;
node.uc1.reset(new Uncertainty[model1.num_vertices]);
estimateSamplingUncertainty(model1.vertices, model1.num_vertices, node.uc1.get());
BVHExpand(model1, node.uc1.get(), expand_r);
node.num_max_contacts = num_max_contacts;
node.exhaustive = exhaustive;
node.enable_contact = enable_contact;
node.collision_prob_threshold = collision_prob_threshold;
node.leaf_size_threshold = leaf_size_threshold;
relativeTransform(model1.getRotation(), model1.getTranslation(), model2.getRotation(), model2.getTranslation(), node.R, node.T);
return true;
}
bool initialize(MeshDistanceTraversalNodeRSS& node, const BVHModel<RSS>& model1, const BVHModel<RSS>& model2)
{
if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
return false;
node.model1 = &model1;
node.model2 = &model2;
node.vertices1 = model1.vertices;
node.vertices2 = model2.vertices;
node.tri_indices1 = model1.tri_indices;
node.tri_indices2 = model2.tri_indices;
relativeTransform(model1.getRotation(), model1.getTranslation(), model2.getRotation(), model2.getTranslation(), node.R, node.T);
return true;
}
bool initialize(MeshCollisionTraversalNodeRSS& node, const BVHModel<RSS>& model1, const BVHModel<RSS>& model2,
int num_max_contacts, bool exhaustive, bool enable_contact)
{
if(model1.getModelType() != BVH_MODEL_TRIANGLES || model2.getModelType() != BVH_MODEL_TRIANGLES)
return false;
node.vertices1 = model1.vertices;
node.vertices2 = model2.vertices;
node.tri_indices1 = model1.tri_indices;
node.tri_indices2 = model2.tri_indices;
node.model1 = &model1;
node.model2 = &model2;
node.num_max_contacts = num_max_contacts;
node.exhaustive = exhaustive;
node.enable_contact = enable_contact;
relativeTransform(model1.getRotation(), model1.getTranslation(), model2.getRotation(), model2.getTranslation(), node.R, node.T);
return true;
}
BVHModel<BV>::BVHModel(const BVHModel<BV>& other) : CollisionGeometry(other),
boost::noncopyable(),
num_tris(other.num_tris),
num_vertices(other.num_vertices),
build_state(other.build_state),
bv_splitter(other.bv_splitter),
bv_fitter(other.bv_fitter),
num_tris_allocated(other.num_tris),
num_vertices_allocated(other.num_vertices)
{
if(other.vertices)
{
vertices = new Vec3f[num_vertices];
memcpy(vertices, other.vertices, sizeof(Vec3f) * num_vertices);
}
else
vertices = NULL;
if(other.tri_indices)
{
tri_indices = new Triangle[num_tris];
memcpy(tri_indices, other.tri_indices, sizeof(Triangle) * num_tris);
}
else
tri_indices = NULL;
if(other.prev_vertices)
{
prev_vertices = new Vec3f[num_vertices];
memcpy(prev_vertices, other.prev_vertices, sizeof(Vec3f) * num_vertices);
}
else
prev_vertices = NULL;
if(other.primitive_indices)
{
int num_primitives = 0;
switch(other.getModelType())
{
case BVH_MODEL_TRIANGLES:
num_primitives = num_tris;
break;
case BVH_MODEL_POINTCLOUD:
num_primitives = num_vertices;
break;
default:
;
}
primitive_indices = new unsigned int[num_primitives];
memcpy(primitive_indices, other.primitive_indices, sizeof(unsigned int) * num_primitives);
}
else
primitive_indices = NULL;
num_bvs = num_bvs_allocated = other.num_bvs;
if(other.bvs)
{
bvs = new BVNode<BV>[num_bvs];
memcpy(bvs, other.bvs, sizeof(BVNode<BV>) * num_bvs);
}
else
bvs = NULL;
}
