Classes
struct	coal::BVNodeBase
	BVNodeBase encodes the tree structure for BVH. More...
struct	coal::BVNode< BV >
	A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter. More...
class	coal::BVFitter< BV >
	The class for the default algorithm fitting a bounding volume to a set of points. More...
class	coal::BVSplitter< BV >
	A class describing the split rule that splits each BV node. More...
class	coal::BVHModelBase
	A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...
class	coal::BVHModel< BV >
	A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh) More...
class	coal::CollisionGeometry
	The geometry for the object for collision or distance computation. More...
class	coal::CollisionObject
	the object for collision or distance computation, contains the geometry and the transform information More...

Typedefs
typedef BVNodeBase	coal::BVNode< BV >::Base

Functions
	coal::BVNodeBase::BVNodeBase ()
	Default constructor.
bool	coal::BVNodeBase::operator== (const BVNodeBase &other) const
	Equality operator.
bool	coal::BVNodeBase::operator!= (const BVNodeBase &other) const
	Difference operator.
bool	coal::BVNodeBase::isLeaf () const
	Whether current node is a leaf node (i.e. contains a primitive index.
int	coal::BVNodeBase::primitiveId () const
	Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel.
int	coal::BVNodeBase::leftChild () const
	Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.
int	coal::BVNodeBase::rightChild () const
	Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.
bool	coal::BVNode< BV >::operator== (const BVNode &other) const
	Equality operator.
bool	coal::BVNode< BV >::operator!= (const BVNode &other) const
	Difference operator.
bool	coal::BVNode< BV >::overlap (const BVNode &other) const
	Check whether two BVNode collide.
bool	coal::BVNode< BV >::overlap (const BVNode &other, const CollisionRequest &request, CoalScalar &sqrDistLowerBound) const
	Check whether two BVNode collide.
CoalScalar	coal::BVNode< BV >::distance (const BVNode &other, Vec3s P1=NULL, Vec3s P2=NULL) const
	Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.
Vec3s	coal::BVNode< BV >::getCenter () const
	Access to the center of the BV.
const Matrix3s &	coal::BVNode< BV >::getOrientation () const
	Access to the orientation of the BV.
	coal::CollisionGeometry::CollisionGeometry ()
	coal::CollisionGeometry::CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor.
virtual	coal::CollisionGeometry::~CollisionGeometry ()
virtual CollisionGeometry *	coal::CollisionGeometry::clone () const =0
	Clone *this into a new CollisionGeometry.
bool	coal::CollisionGeometry::operator== (const CollisionGeometry &other) const
	Equality operator.
bool	coal::CollisionGeometry::operator!= (const CollisionGeometry &other) const
	Difference operator.
virtual OBJECT_TYPE	coal::CollisionGeometry::getObjectType () const
	get the type of the object
virtual NODE_TYPE	coal::CollisionGeometry::getNodeType () const
	get the node type
virtual void	coal::CollisionGeometry::computeLocalAABB ()=0
	compute the AABB for object in local coordinate
void *	coal::CollisionGeometry::getUserData () const
	get user data in geometry
void	coal::CollisionGeometry::setUserData (void *data)
	set user data in geometry
bool	coal::CollisionGeometry::isOccupied () const
	whether the object is completely occupied
bool	coal::CollisionGeometry::isFree () const
	whether the object is completely free
bool	coal::CollisionGeometry::isUncertain () const
	whether the object has some uncertainty
virtual Vec3s	coal::CollisionGeometry::computeCOM () const
	compute center of mass
virtual Matrix3s	coal::CollisionGeometry::computeMomentofInertia () const
	compute the inertia matrix, related to the origin
virtual CoalScalar	coal::CollisionGeometry::computeVolume () const
	compute the volume
virtual Matrix3s	coal::CollisionGeometry::computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com
	coal::CollisionObject::CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, bool compute_local_aabb=true)
	coal::CollisionObject::CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, const Transform3s &tf, bool compute_local_aabb=true)
	coal::CollisionObject::CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, const Matrix3s &R, const Vec3s &T, bool compute_local_aabb=true)
bool	coal::CollisionObject::operator== (const CollisionObject &other) const
bool	coal::CollisionObject::operator!= (const CollisionObject &other) const
	coal::CollisionObject::~CollisionObject ()
OBJECT_TYPE	coal::CollisionObject::getObjectType () const
	get the type of the object
NODE_TYPE	coal::CollisionObject::getNodeType () const
	get the node type
const AABB &	coal::CollisionObject::getAABB () const
	get the AABB in world space
AABB &	coal::CollisionObject::getAABB ()
	get the AABB in world space
void	coal::CollisionObject::computeAABB ()
	compute the AABB in world space
void *	coal::CollisionObject::getUserData () const
	get user data in object
void	coal::CollisionObject::setUserData (void *data)
	set user data in object
const Vec3s &	coal::CollisionObject::getTranslation () const
	get translation of the object
const Matrix3s &	coal::CollisionObject::getRotation () const
	get matrix rotation of the object
const Transform3s &	coal::CollisionObject::getTransform () const
	get object's transform
void	coal::CollisionObject::setRotation (const Matrix3s &R)
	set object's rotation matrix
void	coal::CollisionObject::setTranslation (const Vec3s &T)
	set object's translation
void	coal::CollisionObject::setTransform (const Matrix3s &R, const Vec3s &T)
	set object's transform
void	coal::CollisionObject::setTransform (const Transform3s &tf)
	set object's transform
bool	coal::CollisionObject::isIdentityTransform () const
	whether the object is in local coordinate
void	coal::CollisionObject::setIdentityTransform ()
	set the object in local coordinate
const shared_ptr< const CollisionGeometry >	coal::CollisionObject::collisionGeometry () const
	get shared pointer to collision geometry of the object instance
const shared_ptr< CollisionGeometry > &	coal::CollisionObject::collisionGeometry ()
	get shared pointer to collision geometry of the object instance
const CollisionGeometry *	coal::CollisionObject::collisionGeometryPtr () const
	get raw pointer to collision geometry of the object instance
CollisionGeometry *	coal::CollisionObject::collisionGeometryPtr ()
	get raw pointer to collision geometry of the object instance
void	coal::CollisionObject::setCollisionGeometry (const shared_ptr< CollisionGeometry > &collision_geometry, bool compute_local_aabb=true)
	Associate a new CollisionGeometry.
void	coal::CollisionObject::init (bool compute_local_aabb=true)

Variables
int	coal::BVNodeBase::first_child
	An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used.
unsigned int	coal::BVNodeBase::first_primitive
	The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly.
unsigned int	coal::BVNodeBase::num_primitives
	The number of primitives belonging to the current node.
BV	coal::BVNode< BV >::bv
	bounding volume storing the geometry
Vec3s	coal::CollisionGeometry::aabb_center
	AABB center in local coordinate.
CoalScalar	coal::CollisionGeometry::aabb_radius
	AABB radius.
AABB	coal::CollisionGeometry::aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.
void *	coal::CollisionGeometry::user_data
	pointer to user defined data specific to this object
CoalScalar	coal::CollisionGeometry::cost_density
	collision cost for unit volume
CoalScalar	coal::CollisionGeometry::threshold_occupied
	threshold for occupied ( >= is occupied)
CoalScalar	coal::CollisionGeometry::threshold_free
	threshold for free (<= is free)
shared_ptr< CollisionGeometry >	coal::CollisionObject::cgeom
Transform3s	coal::CollisionObject::t
AABB	coal::CollisionObject::aabb
	AABB in global coordinate.
void *	coal::CollisionObject::user_data
	pointer to user defined data specific to this object

Detailed Description

Classes which are used to build a BVHModel (Bounding Volume Hierarchy)

Typedef Documentation

◆ Base

template<typename BV>

typedef BVNodeBase coal::BVNode< BV >::Base

Function Documentation

◆ BVNodeBase()

coal::BVNodeBase::BVNodeBase ( )

inline

Default constructor.

◆ clone()

virtual CollisionGeometry * coal::CollisionGeometry::clone ( ) const

pure virtual

Clone *this into a new CollisionGeometry.

Implemented in coal::Box, coal::BVHModel< BV >, coal::Capsule, coal::Cone, coal::Convex< PolygonT >, coal::ConvexBase, coal::Cylinder, coal::Ellipsoid, coal::Halfspace, coal::HeightField< BV >, coal::OcTree, coal::Plane, coal::Sphere, and coal::TriangleP.

◆ CollisionGeometry() [1/2]

coal::CollisionGeometry::CollisionGeometry ( )

inline

◆ CollisionGeometry() [2/2]

coal::CollisionGeometry::CollisionGeometry ( const CollisionGeometry & other )

default

Copy constructor.

◆ collisionGeometry() [1/2]

const shared_ptr< CollisionGeometry > & coal::CollisionObject::collisionGeometry ( )

inline

get shared pointer to collision geometry of the object instance

◆ collisionGeometry() [2/2]

const shared_ptr< const CollisionGeometry > coal::CollisionObject::collisionGeometry ( ) const

inline

get shared pointer to collision geometry of the object instance

◆ collisionGeometryPtr() [1/2]

CollisionGeometry * coal::CollisionObject::collisionGeometryPtr ( )

inline

get raw pointer to collision geometry of the object instance

◆ collisionGeometryPtr() [2/2]

const CollisionGeometry * coal::CollisionObject::collisionGeometryPtr ( ) const

inline

get raw pointer to collision geometry of the object instance

◆ CollisionObject() [1/3]

coal::CollisionObject::CollisionObject	(	const shared_ptr< CollisionGeometry > &	cgeom_,
		bool	compute_local_aabb = true )

inline

◆ CollisionObject() [2/3]

coal::CollisionObject::CollisionObject	(	const shared_ptr< CollisionGeometry > &	cgeom_,
		const Matrix3s &	R,
		const Vec3s &	T,
		bool	compute_local_aabb = true )

inline

◆ CollisionObject() [3/3]

coal::CollisionObject::CollisionObject	(	const shared_ptr< CollisionGeometry > &	cgeom_,
		const Transform3s &	tf,
		bool	compute_local_aabb = true )

inline

◆ computeAABB()

void coal::CollisionObject::computeAABB ( )

inline

compute the AABB in world space

◆ computeCOM()

virtual Vec3s coal::CollisionGeometry::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented in coal::BVHModelBase, coal::Cone, coal::Convex< PolygonT >, and coal::HeightField< BV >.

◆ computeLocalAABB()

virtual void coal::CollisionGeometry::computeLocalAABB ( )

pure virtual

compute the AABB for object in local coordinate

Implemented in coal::Box, coal::BVHModelBase, coal::Capsule, coal::Cone, coal::ConvexBase, coal::Cylinder, coal::Ellipsoid, coal::Halfspace, coal::HeightField< BV >, coal::OcTree, coal::Plane, coal::Sphere, and coal::TriangleP.

◆ computeMomentofInertia()

virtual Matrix3s coal::CollisionGeometry::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented in coal::Box, coal::BVHModelBase, coal::Capsule, coal::Cone, coal::Convex< PolygonT >, coal::Cylinder, coal::Ellipsoid, coal::HeightField< BV >, and coal::Sphere.

◆ computeMomentofInertiaRelatedToCOM()

virtual Matrix3s coal::CollisionGeometry::computeMomentofInertiaRelatedToCOM ( ) const

inlinevirtual

compute the inertia matrix, related to the com

◆ computeVolume()

virtual CoalScalar coal::CollisionGeometry::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented in coal::Box, coal::BVHModelBase, coal::Capsule, coal::Cone, coal::Convex< PolygonT >, coal::Cylinder, coal::Ellipsoid, coal::HeightField< BV >, and coal::Sphere.

◆ distance()

template<typename BV>

CoalScalar coal::BVNode< BV >::distance	(	const BVNode< BV > &	other,
		Vec3s *	P1 = NULL,
		Vec3s *	P2 = NULL ) const

inline

Compute the distance between two BVNode. P1 and P2, if not NULL and the underlying BV supports distance, return the nearest points.

◆ getAABB() [1/2]

AABB & coal::CollisionObject::getAABB ( )

inline

get the AABB in world space

◆ getAABB() [2/2]

const AABB & coal::CollisionObject::getAABB ( ) const

inline

get the AABB in world space

◆ getCenter()

template<typename BV>

Vec3s coal::BVNode< BV >::getCenter ( ) const

inline

Access to the center of the BV.

◆ getNodeType() [1/2]

virtual NODE_TYPE coal::CollisionGeometry::getNodeType ( ) const

inlinevirtual

◆ getNodeType() [2/2]

NODE_TYPE coal::CollisionObject::getNodeType ( ) const

inline

get the node type

◆ getObjectType() [1/2]

virtual OBJECT_TYPE coal::CollisionGeometry::getObjectType ( ) const

inlinevirtual

get the type of the object

Reimplemented in coal::BVHModelBase, coal::HeightField< BV >, coal::OcTree, and coal::ShapeBase.

◆ getObjectType() [2/2]

OBJECT_TYPE coal::CollisionObject::getObjectType ( ) const

inline

get the type of the object

◆ getOrientation()

template<typename BV>

const Matrix3s & coal::BVNode< BV >::getOrientation ( ) const

inline

Access to the orientation of the BV.

◆ getRotation()

const Matrix3s & coal::CollisionObject::getRotation ( ) const

inline

get matrix rotation of the object

◆ getTransform()

const Transform3s & coal::CollisionObject::getTransform ( ) const

inline

get object's transform

◆ getTranslation()

const Vec3s & coal::CollisionObject::getTranslation ( ) const

inline

get translation of the object

◆ getUserData() [1/2]

void * coal::CollisionGeometry::getUserData ( ) const

inline

get user data in geometry

◆ getUserData() [2/2]

void * coal::CollisionObject::getUserData ( ) const

inline

get user data in object

◆ init()

void coal::CollisionObject::init ( bool compute_local_aabb = true )

inlineprotected

◆ isFree()

bool coal::CollisionGeometry::isFree ( ) const

inline

whether the object is completely free

◆ isIdentityTransform()

bool coal::CollisionObject::isIdentityTransform ( ) const

inline

whether the object is in local coordinate

◆ isLeaf()

bool coal::BVNodeBase::isLeaf ( ) const

inline

Whether current node is a leaf node (i.e. contains a primitive index.

◆ isOccupied()

bool coal::CollisionGeometry::isOccupied ( ) const

inline

whether the object is completely occupied

◆ isUncertain()

bool coal::CollisionGeometry::isUncertain ( ) const

whether the object has some uncertainty

◆ leftChild()

int coal::BVNodeBase::leftChild ( ) const

inline

Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

◆ operator!=() [1/4]

template<typename BV>

bool coal::BVNode< BV >::operator!= ( const BVNode< BV > & other ) const

inline

Difference operator.

◆ operator!=() [2/4]

bool coal::BVNodeBase::operator!= ( const BVNodeBase & other ) const

inline

Difference operator.

◆ operator!=() [3/4]

bool coal::CollisionGeometry::operator!= ( const CollisionGeometry & other ) const

inline

Difference operator.

◆ operator!=() [4/4]

bool coal::CollisionObject::operator!= ( const CollisionObject & other ) const

inline

◆ operator==() [1/4]

template<typename BV>

bool coal::BVNode< BV >::operator== ( const BVNode< BV > & other ) const

inline

Equality operator.

◆ operator==() [2/4]

bool coal::BVNodeBase::operator== ( const BVNodeBase & other ) const

inline

Equality operator.

◆ operator==() [3/4]

bool coal::CollisionGeometry::operator== ( const CollisionGeometry & other ) const

inline

Equality operator.

◆ operator==() [4/4]

bool coal::CollisionObject::operator== ( const CollisionObject & other ) const

inline

◆ overlap() [1/2]

template<typename BV>

bool coal::BVNode< BV >::overlap ( const BVNode< BV > & other ) const

inline

Check whether two BVNode collide.

◆ overlap() [2/2]

template<typename BV>

bool coal::BVNode< BV >::overlap	(	const BVNode< BV > &	other,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound ) const

inline

Check whether two BVNode collide.

◆ primitiveId()

int coal::BVNodeBase::primitiveId ( ) const

inline

Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel.

◆ rightChild()

int coal::BVNodeBase::rightChild ( ) const

inline

Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel.

◆ setCollisionGeometry()

void coal::CollisionObject::setCollisionGeometry	(	const shared_ptr< CollisionGeometry > &	collision_geometry,
		bool	compute_local_aabb = true )

inline

Associate a new CollisionGeometry.

Parameters

[in]	collision_geometry	The new CollisionGeometry
[in]	compute_local_aabb	Whether the local aabb of the input new has to be computed.

◆ setIdentityTransform()

void coal::CollisionObject::setIdentityTransform ( )

inline

set the object in local coordinate

◆ setRotation()

void coal::CollisionObject::setRotation ( const Matrix3s & R )

inline

set object's rotation matrix

◆ setTransform() [1/2]

void coal::CollisionObject::setTransform	(	const Matrix3s &	R,
		const Vec3s &	T )

inline

set object's transform

◆ setTransform() [2/2]

void coal::CollisionObject::setTransform ( const Transform3s & tf )

inline

set object's transform

◆ setTranslation()

void coal::CollisionObject::setTranslation ( const Vec3s & T )

inline

set object's translation

◆ setUserData() [1/2]

void coal::CollisionGeometry::setUserData ( void * data )

inline

set user data in geometry

◆ setUserData() [2/2]

void coal::CollisionObject::setUserData ( void * data )

inline

set user data in object

◆ ~CollisionGeometry()

virtual coal::CollisionGeometry::~CollisionGeometry ( )

inlinevirtual

◆ ~CollisionObject()

coal::CollisionObject::~CollisionObject ( )

inline

Variable Documentation

◆ aabb

AABB coal::CollisionObject::aabb

mutableprotected

AABB in global coordinate.

◆ aabb_center

Vec3s coal::CollisionGeometry::aabb_center

AABB center in local coordinate.

◆ aabb_local

AABB coal::CollisionGeometry::aabb_local

AABB in local coordinate, used for tight AABB when only translation transform.

◆ aabb_radius

CoalScalar coal::CollisionGeometry::aabb_radius

AABB radius.

◆ bv

template<typename BV>

BV coal::BVNode< BV >::bv

bounding volume storing the geometry

◆ cgeom

shared_ptr<CollisionGeometry> coal::CollisionObject::cgeom

protected

◆ cost_density

CoalScalar coal::CollisionGeometry::cost_density

collision cost for unit volume

◆ first_child

int coal::BVNodeBase::first_child

An index for first child node or primitive If the value is positive, it is the index of the first child bv node If the value is negative, it is -(primitive index + 1) Zero is not used.

◆ first_primitive

unsigned int coal::BVNodeBase::first_primitive

The start id the primitive belonging to the current node. The index is referred to the primitive_indices in BVHModel and from that we can obtain the primitive's index in original data indirectly.

◆ num_primitives

unsigned int coal::BVNodeBase::num_primitives

The number of primitives belonging to the current node.

◆ t

Transform3s coal::CollisionObject::t

protected

◆ threshold_free

CoalScalar coal::CollisionGeometry::threshold_free

threshold for free (<= is free)

◆ threshold_occupied

CoalScalar coal::CollisionGeometry::threshold_occupied

threshold for occupied ( >= is occupied)

◆ user_data [1/2]

void* coal::CollisionGeometry::user_data

pointer to user defined data specific to this object

◆ user_data [2/2]

void* coal::CollisionObject::user_data

protected

pointer to user defined data specific to this object

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ Base

Function Documentation

◆ BVNodeBase()

◆ clone()

◆ CollisionGeometry() [1/2]

◆ CollisionGeometry() [2/2]

◆ collisionGeometry() [1/2]

◆ collisionGeometry() [2/2]

◆ collisionGeometryPtr() [1/2]

◆ collisionGeometryPtr() [2/2]

◆ CollisionObject() [1/3]

◆ CollisionObject() [2/3]

◆ CollisionObject() [3/3]

◆ computeAABB()

◆ computeCOM()

◆ computeLocalAABB()

◆ computeMomentofInertia()

◆ computeMomentofInertiaRelatedToCOM()

◆ computeVolume()

◆ distance()

◆ getAABB() [1/2]

◆ getAABB() [2/2]

◆ getCenter()

◆ getNodeType() [1/2]

◆ getNodeType() [2/2]

◆ getObjectType() [1/2]

◆ getObjectType() [2/2]

◆ getOrientation()

◆ getRotation()

◆ getTransform()

◆ getTranslation()

◆ getUserData() [1/2]

◆ getUserData() [2/2]

◆ init()

◆ isFree()

◆ isIdentityTransform()

◆ isLeaf()

◆ isOccupied()

◆ isUncertain()

◆ leftChild()

◆ operator!=() [1/4]

◆ operator!=() [2/4]

◆ operator!=() [3/4]

◆ operator!=() [4/4]

◆ operator==() [1/4]

◆ operator==() [2/4]

◆ operator==() [3/4]

◆ operator==() [4/4]

◆ overlap() [1/2]

◆ overlap() [2/2]

◆ primitiveId()

◆ rightChild()

◆ setCollisionGeometry()

◆ setIdentityTransform()

◆ setRotation()

◆ setTransform() [1/2]

◆ setTransform() [2/2]

◆ setTranslation()

◆ setUserData() [1/2]

◆ setUserData() [2/2]

◆ ~CollisionGeometry()

◆ ~CollisionObject()

Variable Documentation

◆ aabb

◆ aabb_center

◆ aabb_local

◆ aabb_radius

◆ bv

◆ cgeom

◆ cost_density

◆ first_child

◆ first_primitive

◆ num_primitives

◆ t