An abstract bounding volume. More...

#include <BV.h>

Inheritance diagram for Moby::BV:

Public Member Functions
virtual std::ostream &	to_vrml (std::ostream &out, const Ravelin::Pose3d &T) const =0
	Virtual function for outputting the bounding volume to VRML.

virtual bool	outside (const Point3d &point, double tol=NEAR_ZERO) const =0
	Determines whether a point is outside the bounding volume.

virtual bool	intersects (const LineSeg3 &seg, double &tmin, double tmax, Point3d &q) const =0
	Determines whether a line segment intersects the bounding volume.

virtual boost::shared_ptr < const Ravelin::Pose3d >	get_relative_pose () const =0
	Gets the associated pose for this bounding volume.

virtual void	transform (const Ravelin::Transform3d &T, BV *result) const =0
	Virtual function for transforming the BV.

virtual BVPtr	calc_swept_BV (CollisionGeometryPtr g, const Ravelin::SVelocityd &v) const =0
	Virtual function that calculates a velocity-expanded BV. More...

BVPtr	get_this ()

boost::shared_ptr< const BV >	get_this () const

bool	is_leaf () const

template<class OutputIterator >
OutputIterator	get_all_BVs (OutputIterator begin) const
	Gets all BV nodes. More...

template<class OutputIterator >
OutputIterator	get_all_leafs (OutputIterator begin) const
	Gets all leaf nodes.

virtual double	calc_volume () const =0
	Gets the volume for this bounding volume.

virtual Point3d	get_lower_bounds () const =0
	Gets the lower bound on a AABB around the bounding volume when a transform of T is applied.

virtual Point3d	get_upper_bounds () const =0
	Gets the upper bound on a AABB around the bounding volume when a transform of T is applied.

template<class OutputIterator >
OutputIterator	get_all_BVs (OutputIterator begin) const
	Gets all BV nodes. More...

template<class OutputIterator >
OutputIterator	get_all_leafs (OutputIterator begin) const
	Gets all leaf nodes.

template<class OutputIterator >
OutputIterator	intersect_BV_trees (BVPtr a, BVPtr b, const Ravelin::Transform3d &aTb, const Ravelin::Transform3d &bTa, OutputIterator output_begin)
	Intersects two BV trees; returns list of all leaf-level intersecting BVs. More...

Static Public Member Functions
static bool	intersects (BVPtr a, BVPtr b)
	Convenience method.

static bool	intersects (BVPtr a, BVPtr b, const Ravelin::Transform3d &T)
	Convenience method.

static double	calc_distance (BVPtr a, BVPtr b, Point3d &cp1, Point3d &cp2)
	Convenience method.

static double	calc_distance (BVPtr a, BVPtr b, const Ravelin::Transform3d &aTb, Point3d &cp1, Point3d &cp2)
	Convenience method.

static bool	intersects (const BV a, const BV b)
	Computes whether two abstract bounding volumes intersect.

static bool	intersects (const BV a, const BV b, const Ravelin::Transform3d &T)

static double	calc_distance (const BV a, const BV b, Point3d &cp1, Point3d &cp2)
	Computes the distance between two abstract bounding volumes and stores the closest points. More...

static double	calc_distance (const BV a, const BV b, const Ravelin::Transform3d &aTb, Point3d &cp1, Point3d &cp2)

template<class OutputIterator >
static OutputIterator	intersect_BV_trees (BVPtr a, BVPtr b, const Ravelin::Transform3d &aTb, const Ravelin::Transform3d &bTa, OutputIterator output_begin)
	Intersects two BV trees; returns list of all leaf-level intersecting BVs. More...

Public Attributes
boost::shared_ptr< void >	userdata
	Userdata for the BV.

CollisionGeometryPtr	geom
	The collision geometry associated with this bounding volume.

std::list< BVPtr >	children
	The children of this BV.

Detailed Description

An abstract bounding volume.

Note: the BV is generally constructed such that its frame is aligned with that of the underlying rigid body (or collision geometry). Therefore, the center of the BV is computed relative to the center-of-mass of the body (or the center of the geometry). The orientation of the BV will always be identical to the orientation of the rigid body (or collision geometry).

Member Function Documentation

double BV::calc_distance	(	const BV *	a,
		const BV *	b,
		Point3d &	cp1,
		Point3d &	cp2
	)

static

Computes the distance between two abstract bounding volumes and stores the closest points.

Parameters

cp1	the closest point on a to b
cp2	the closest point on b to a

Returns: the distance between the bounding volumes

virtual BVPtr Moby::BV::calc_swept_BV	(	CollisionGeometryPtr	g,
		const Ravelin::SVelocityd &	v
	)		const

pure virtual

Virtual function that calculates a velocity-expanded BV.

Parameters

g	the geometry that this bounding volume represents
v	the "velocity" to sweep by

Returns: the velocity-expanded bounding volume

Implemented in Moby::DummyBV, Moby::OBB, Moby::SSR, Moby::SSL, Moby::AABB, and Moby::BoundingSphere.

template<class OutputIterator >

OutputIterator Moby::BV::get_all_BVs ( OutputIterator begin ) const

Gets all BV nodes.

The output is ordered by levels in the hierarchy.

template<class OutputIterator >

OutputIterator Moby::BV::get_all_BVs ( OutputIterator begin ) const

Gets all BV nodes.

The output is ordered by levels in the hierarchy.

template<class OutputIterator >

OutputIterator Moby::BV::intersect_BV_trees	(	BVPtr	a,
		BVPtr	b,
		const Ravelin::Transform3d &	aTb,
		const Ravelin::Transform3d &	bTa,
		OutputIterator	output_begin
	)

Intersects two BV trees; returns list of all leaf-level intersecting BVs.

Parameters

a	the root of the first BV tree
b	the root of the second BV tree
aTb	the transform from b's frame to a's frame (i.e., inverse(transform(a)) * transform(b))
bTa	the transform from a's frame to b's frame (i.e., inverse(transform(b)) * transform(a))
output_begin	iterator to the beginning of a list of pairs of type pair<shared_ptr<BV>, shared_ptr<BV> >; first element in each pair comes from the first BV tree, second element comes from the second tree

Returns: iterator to the end of a list of pairs of type pair<shared_ptr<BV>, shared_ptr<BV> >; first element in each pair comes from the first BV tree, second element comes from the second tree

template<class OutputIterator >

OutputIterator Moby::BV::intersect_BV_trees	(	BVPtr	a,
		BVPtr	b,
		const Ravelin::Transform3d &	aTb,
		const Ravelin::Transform3d &	bTa,
		OutputIterator	output_begin
	)

static

Intersects two BV trees; returns list of all leaf-level intersecting BVs.

Parameters

a	the root of the first BV tree
b	the root of the second BV tree
aTb	the transform from b's frame to a's frame (i.e., inverse(transform(a)) * transform(b))
bTa	the transform from a's frame to b's frame (i.e., inverse(transform(b)) * transform(a))
output_begin	iterator to the beginning of a list of pairs of type pair<shared_ptr<BV>, shared_ptr<BV> >; first element in each pair comes from the first BV tree, second element comes from the second tree

Returns: iterator to the end of a list of pairs of type pair<shared_ptr<BV>, shared_ptr<BV> >; first element in each pair comes from the first BV tree, second element comes from the second tree

The documentation for this class was generated from the following files:

/home/drum/Moby/include/Moby/BV.h
/home/drum/Moby/include/Moby/BV.inl
/home/drum/Moby/src/BV.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation