songsenand
/
cgal
mirror of https://github.com/CGAL/cgal
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

add protector and API without deformation 

I added a bitset to avoid changing the rounding-mode too often
This commit is contained in:
Sébastien Loriot 2018-07-27 15:24:58 +02:00
parent 1cba77086d
commit 5f50f5d7e9
1 changed files with 86 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

120
Polygon_mesh_processing/include/CGAL/Rigid_mesh_collision_detection.h
View File

@ -31,7 +31,14 @@
#include <CGAL/AABB_face_graph_triangle_primitive.h>
#include <CGAL/Side_of_triangle_mesh.h>
#define CGAL_CASH_BOXES 0
#ifndef CGAL_CACHE_BOXES
#define CGAL_CACHE_BOXES 0
#endif
#if CGAL_CACHE_BOXES
#include <boost/dynamic_bitset.hpp>
#endif
namespace CGAL {
template <class TriangleMesh, class Kernel, class HAS_ROTATION = CGAL::Tag_true>
@ -47,10 +54,18 @@ class Rigid_mesh_collision_detection
// TODO: we probably want an option with external trees
std::vector<Tree*> m_aabb_trees;
std::vector<bool> m_is_closed;
#if CGAL_CASH_BOXES
std::vector<typename Tree::Bounding_box> m_tree_boxes;
#if CGAL_CACHE_BOXES
boost::dynamic_bitset<> m_bboxes_is_invalid;
std::vector<Bbox_3> m_bboxes;
#endif
void clear_trees()
{
BOOST_FOREACH(Tree* tree, m_aabb_trees){
delete tree;
}
m_aabb_trees.clear();
}
public:
template <class MeshRange>
@ -58,21 +73,26 @@ public:
{
init(triangle_meshes);
}
~Rigid_mesh_collision_detection()
{
BOOST_FOREACH(Tree* tree, m_aabb_trees){
delete tree;
}
clear_trees();
}
template <class MeshRange>
void init(const MeshRange& triangle_meshes)
{
m_triangle_mesh_ptrs.reserve( triangle_meshes.size() );
m_aabb_trees.reserve( triangle_meshes.size() );
m_is_closed.resize(triangle_meshes.size(), false);
#if CGAL_CASH_BOXES
m_tree_boxes.reserve( triangle_meshes.size() );
Interval_nt_advanced::Protector protector;
std::size_t nb_meshes = triangle_meshes.size();
m_triangle_mesh_ptrs.clear();
m_triangle_mesh_ptrs.reserve(nb_meshes);
clear_trees();
m_aabb_trees.reserve(nb_meshes);
m_is_closed.clear();
m_is_closed.resize(nb_meshes, false);
#if CGAL_CACHE_BOXES
m_bboxes_is_invalid.clear();
m_bboxes_is_invalid.resize(nb_meshes, true);
m_bboxes.clear();
m_bboxes.resize(nb_meshes);
#endif
BOOST_FOREACH(const TriangleMesh& tm, triangle_meshes)
{
@ -81,9 +101,6 @@ public:
m_triangle_mesh_ptrs.push_back( &tm );
Tree* t = new Tree(faces(tm).begin(), faces(tm).end(), tm);
m_aabb_trees.push_back(t);
#if CGAL_CASH_BOXES
m_tree_boxes.push_back(internal::get_tree_bbox(*t));
#endif
}
}
@ -93,9 +110,9 @@ public:
m_triangle_mesh_ptrs.push_back( &tm );
Tree* t = new Tree(faces(tm).begin(), faces(tm).end(), tm);
m_aabb_trees.push_back(t);
#if CGAL_CASH_BOXES
Interval_nt_advanced::Protector protector;
m_tree_boxes.push_back(internal::get_tree_bbox(*t));
#if CGAL_CACHE_BOXES
m_bboxes.push_back(Bbox_3());
m_bboxes_is_invalid.resize(m_bboxes_is_invalid.size()+1, true);
#endif
}
@ -105,33 +122,50 @@ public:
m_triangle_mesh_ptrs.erase( m_triangle_mesh_ptrs.begin()+mesh_id );
m_aabb_trees.erase( m_aabb_trees.begin()+mesh_id);
m_is_closed.erase(m_is_closed.begin()+mesh_id);
#if CGAL_CASH_BOXES
m_tree_boxes.erase(m_tree_boxes.begin()+mesh_id);
#if CGAL_CACHE_BOXES
// TODO this is a lazy approach that is not optimal
m_bboxes.pop_back();
m_bboxes_is_invalid.set();
m_bboxes_is_invalid.resize(m_triangle_mesh_ptrs.size());
#endif
}
void set_transformation(std::size_t mesh_id, const Aff_transformation_3<Kernel>& aff_trans)
{
m_aabb_trees[mesh_id]->traits().set_transformation(aff_trans);
#if CGAL_CASH_BOXES
m_tree_boxes[mesh_id] = internal::get_tree_bbox(*m_aabb_trees[mesh_id]);
#if CGAL_CACHE_BOXES
m_bboxes_is_invalid.set(mesh_id);
#endif
}
#if CGAL_CACHE_BOXES
void update_bboxes()
{
// protector is supposed to have been set
for (boost::dynamic_bitset<>::size_type i = m_bboxes.find_first();
i != m_bboxes_is_invalid.npos;
i = m_bboxes_is_invalid.find_next(i))
{
m_bboxes[i]=internal::get_tree_bbox(*m_aabb_trees[i]);
}
m_bboxes_is_invalid.reset();
}
#endif
std::vector<std::size_t>
set_transformation_and_get_all_intersections(std::size_t mesh_id,
const Aff_transformation_3<Kernel>& aff_trans)
get_all_intersections(std::size_t mesh_id)
{
CGAL::Interval_nt_advanced::Protector protector;
set_transformation(mesh_id, aff_trans);
#if CGAL_CACHE_BOXES
update_bboxes();
#endif
std::vector<std::size_t> res;
for(std::size_t k=0; k<m_aabb_trees.size(); ++k)
{
if(k==mesh_id) continue;
#if CGAL_CASH_BOXES
if (!do_overlap(m_tree_boxes[k], m_tree_boxes[mesh_id])) continue;
#if CGAL_CACHE_BOXES
if (!do_overlap(m_bboxes[k], m_bboxes[mesh_id])) continue;
#endif
// TODO: think about an alternative that is using a traversal traits
if ( m_aabb_trees[k]->do_intersect( *m_aabb_trees[mesh_id] ) )
@ -140,21 +174,30 @@ public:
return res;
}
std::vector<std::pair<std::size_t, bool> >
set_transformation_and_get_all_intersections_and_inclusions(std::size_t mesh_id,
const Aff_transformation_3<Kernel>& aff_trans)
std::vector<std::size_t>
set_transformation_and_get_all_intersections(std::size_t mesh_id,
const Aff_transformation_3<Kernel>& aff_trans)
{
CGAL::Interval_nt_advanced::Protector protector;
set_transformation(mesh_id, aff_trans);
std::vector<std::pair<std::size_t, bool> > res;
return get_all_intersections(mesh_id);
}
std::vector<std::pair<std::size_t, bool> >
get_all_intersections_and_inclusions(std::size_t mesh_id)
{
CGAL::Interval_nt_advanced::Protector protector;
#if CGAL_CACHE_BOXES
update_bboxes();
#endif
std::vector<std::pair<std::size_t, bool> > res;
// TODO: use a non-naive version
for(std::size_t k=0; k<m_aabb_trees.size(); ++k)
{
if(k==mesh_id) continue;
#if CGAL_CASH_BOXES
if (!do_overlap(m_tree_boxes[k], m_tree_boxes[mesh_id])) continue;
#if CGAL_CACHE_BOXES
if (!do_overlap(m_bboxes[k], m_bboxes[mesh_id])) continue;
#endif
// TODO: think about an alternative that is using a traversal traits
if ( m_aabb_trees[k]->do_intersect( *m_aabb_trees[mesh_id] ) )
@ -181,6 +224,15 @@ public:
}
return res;
}
std::vector<std::pair<std::size_t, bool> >
set_transformation_and_get_all_intersections_and_inclusions(std::size_t mesh_id,
const Aff_transformation_3<Kernel>& aff_trans)
{
CGAL::Interval_nt_advanced::Protector protector;
set_transformation(mesh_id, aff_trans);
return get_all_intersections_and_inclusions(mesh_id);
}
};
} // end of CGAL namespace