Tetrahedral AABB hierarchy class. More...

#include <TetrahedralAabbHierarchy.h>

Inheritance diagram for pbat::geometry::TetrahedralAabbHierarchy:

Public Types
using	SelfType = TetrahedralAabbHierarchy
	Type of this class.

using	BaseType
	Base type.

Public Types inherited from pbat::geometry::BoundingVolumeHierarchy< TetrahedralAabbHierarchy, AxisAlignedBoundingBox< 3 >, IndexVector< 4 >, 3 >
using	DerivedType
	Actual type.

using	BoundingVolumeType
	Type of bounding volumes.

using	PrimitiveType
	Type of primitives.

Public Member Functions
PBAT_API	TetrahedralAabbHierarchy (Eigen::Ref< MatrixX const > const &V, Eigen::Ref< IndexMatrixX const > const &C, Index maxPointsInLeaf=10)
	Construct a TetrahedralAabbHierarchy from a tetrahedral mesh (V,C)

PBAT_API PrimitiveType	Primitive (Index p) const
	Returns the primitive at index p.

PBAT_API Vector< kDims >	PrimitiveLocation (PrimitiveType const &primitive) const
	Returns the location of the primitive.

template<class RPrimitiveIndices>
BoundingVolumeType	BoundingVolumeOf (RPrimitiveIndices &&pinds) const
	Returns the bounding volume of the primitive.

PBAT_API void	Update ()
	Updates the AABBs.

PBAT_API IndexMatrixX	OverlappingPrimitives (TetrahedralAabbHierarchy const &bvh, std::size_t reserve=1000ULL) const
	Returns the overlapping primitives of this BVH and another BVH.

template<class TDerivedP, class FCull>
IndexVectorX	PrimitivesContainingPoints (Eigen::MatrixBase< TDerivedP > const &P, FCull fCull, bool bParallelize=true) const
	For each point in P, returns the index of the primitive containing it.

template<class TDerivedP>
IndexVectorX	PrimitivesContainingPoints (Eigen::MatrixBase< TDerivedP > const &P, bool bParallelize=true) const
	For each point in P, returns the index of the primitive containing it.

template<class TDerivedP>
auto	NearestPrimitivesToPoints (Eigen::MatrixBase< TDerivedP > const &P, bool bParallelize=true) const -> std::pair< IndexVectorX, VectorX >
	For each point in P, returns the index of the nearest primitive to it.

auto const &	GetBoundingVolumes () const
	Returns this BVH's bounding volumes.

template<class TDerivedP>
void	SetV (Eigen::MatrixBase< TDerivedP > const &P)
	Updates this BVH's mesh's vertex positions.

auto	GetV () const
	Returns this BVH's mesh's vertex positions.

auto	GetC () const
	Returns this BVH's mesh's cell indices.

Public Member Functions inherited from pbat::geometry::BoundingVolumeHierarchy< TetrahedralAabbHierarchy, AxisAlignedBoundingBox< 3 >, IndexVector< 4 >, 3 >
void	Construct (Index nPrimitives, Index maxPointsInLeaf=10)
	Construct the BVH from a set of primitives.

auto	BoundingVolumes () const -> std::vector< BoundingVolumeType > const &
	Returns the bounding volumes of this BVH.

auto	PrimitivesInBoundingVolume (Index bvIdx) const
	Returns the indices of the primitives contained in the bounding volume bvIdx.

std::vector< Index >	PrimitivesIntersecting (FIntersectsBoundingVolume &&ibv, FIntersectsPrimitive &&ip, std::size_t reserve=50ULL) const
	Returns the indices of the primitives intersecting the bounding volume bv.

auto	NearestPrimitivesTo (FDistanceToBoundingVolume &&db, FDistanceToPrimitive &&dp, std::size_t K) const -> std::pair< std::vector< Index >, std::vector< Scalar > >
	Obtains the k nearest neighbours (primitives of this BVH)

void	Update ()
	Update the bounding volumes of this BVH.

PrimitiveType	Primitive (Index p) const
	Returns the primitive at index p.

auto	PrimitiveLocation (PrimitiveType const &primitive) const
	Returns the location of the primitive.

BoundingVolumeType	BoundingVolumeOf (RPrimitiveIndices &&primitiveIndexRange) const
	Returns the bounding volume of the primitives in the range [first, last)

Public Attributes
Eigen::Ref< MatrixX const >	V
	`\|kDims\|x\|# verts\|` vertex positions

Eigen::Ref< IndexMatrixX const >	C
	`4x\|# tetrahedra\|` cell indices into V

Static Public Attributes
static auto constexpr	kDims = 3
	Dimension of the space.

Static Public Attributes inherited from pbat::geometry::BoundingVolumeHierarchy< TetrahedralAabbHierarchy, AxisAlignedBoundingBox< 3 >, IndexVector< 4 >, 3 >
static auto constexpr	kDims
	Embedding dimensionality.

Additional Inherited Members
Protected Member Functions inherited from pbat::geometry::BoundingVolumeHierarchy< TetrahedralAabbHierarchy, AxisAlignedBoundingBox< 3 >, IndexVector< 4 >, 3 >
IndexMatrixX	OverlappingPrimitivesImpl (BoundingVolumeHierarchy< TDerived2, TBoundingVolume2, TPrimitive2, Dims2 > const &other, FBoundingVolumesOverlap &&bvo, FPrimitivesOverlap &&po, FPrimitivesAreAdjacent &&PrimitivesAreAdjacent=[](PrimitiveType const &p1, TPrimitive2 const &p2) -> bool { return false;}, std::size_t reserve=50ULL) const
	Returns the indices of the primitives overlapping between this BVH and another BVH.

Protected Attributes inherited from pbat::geometry::BoundingVolumeHierarchy< TetrahedralAabbHierarchy, AxisAlignedBoundingBox< 3 >, IndexVector< 4 >, 3 >
std::vector< BoundingVolumeType >	mBoundingVolumes
	Bounding volumes of the BVH.

KdTree< kDims >	mKdTree
	K-d tree used to store the primitives and the BVH tree.

Detailed Description

Tetrahedral AABB hierarchy class.

Member Typedef Documentation

◆ BaseType

using pbat::geometry::TetrahedralAabbHierarchy::BaseType

Initial value:

 BoundingVolumeHierarchy<
                     SelfType,
                     AxisAlignedBoundingBox<kDims>,
                     IndexVector<4>,
                     kDims>

Base type.

Constructor & Destructor Documentation

◆ TetrahedralAabbHierarchy()

pbat::geometry::TetrahedralAabbHierarchy::TetrahedralAabbHierarchy	(	Eigen::Ref< MatrixX const > const &	V,
		Eigen::Ref< IndexMatrixX const > const &	C,
		Index	maxPointsInLeaf = 10 )

Construct a TetrahedralAabbHierarchy from a tetrahedral mesh (V,C)

Parameters

V	`\|kDims\|x\|# verts\|` vertex positions
C	`4x\|# tetrahedra\|` cell vertex indices into V
maxPointsInLeaf	Maximum number of simplices in a leaf node

Member Function Documentation

◆ BoundingVolumeOf()

template<class RPrimitiveIndices>

TetrahedralAabbHierarchy::BoundingVolumeType pbat::geometry::TetrahedralAabbHierarchy::BoundingVolumeOf ( RPrimitiveIndices && pinds ) const

inline

Returns the bounding volume of the primitive.

Template Parameters

RPrimitiveIndices Index range type

Parameters

pinds Range of primitive indices

Returns: The bounding volume of the primitives pinds

◆ GetBoundingVolumes()

auto const & pbat::geometry::TetrahedralAabbHierarchy::GetBoundingVolumes ( ) const

inline

Returns this BVH's bounding volumes.

Returns: This BVH's bounding volumes

◆ GetC()

auto pbat::geometry::TetrahedralAabbHierarchy::GetC ( ) const

inline

Returns this BVH's mesh's cell indices.

Returns: This BVH's mesh's cell indices

◆ GetV()

auto pbat::geometry::TetrahedralAabbHierarchy::GetV ( ) const

inline

Returns this BVH's mesh's vertex positions.

Returns: This BVH's mesh's vertex positions

◆ NearestPrimitivesToPoints()

template<class TDerivedP>

auto pbat::geometry::TetrahedralAabbHierarchy::NearestPrimitivesToPoints	(	Eigen::MatrixBase< TDerivedP > const &	P,
		bool	bParallelize = true ) const -> std::pair<IndexVectorX, VectorX>

inline

For each point in P, returns the index of the nearest primitive to it.

Template Parameters

TDerivedP Eigen matrix type

Parameters

P	`\|kDims\|x\|# points\|` matrix of points
bParallelize	Whether to parallelize the computation

Returns: |# points| vector of nearest primitive indices to the points

◆ OverlappingPrimitives()

IndexMatrixX pbat::geometry::TetrahedralAabbHierarchy::OverlappingPrimitives	(	TetrahedralAabbHierarchy const &	bvh,
		std::size_t	reserve = 1000ULL ) const

Returns the overlapping primitives of this BVH and another BVH.

Parameters

bvh	The other BVH
reserve	Estimated number of overlapping primitives to reserve memory for

Returns: 2x|# overlaps| matrix O of overlapping primitive pairs s.t. primitives O(0,o) in this bvh, and O(1,o) in the other bvh overlap.

◆ Primitive()

TetrahedralAabbHierarchy::PrimitiveType pbat::geometry::TetrahedralAabbHierarchy::Primitive ( Index p ) const

Returns the primitive at index p.

Parameters

p	Index of the primitive

Returns: The primitive at index p

◆ PrimitiveLocation()

Vector< TetrahedralAabbHierarchy::kDims > pbat::geometry::TetrahedralAabbHierarchy::PrimitiveLocation ( PrimitiveType const & primitive ) const

Returns the location of the primitive.

Parameters

primitive The primitive

Returns: The location of the primitive

◆ PrimitivesContainingPoints() [1/2]

template<class TDerivedP>

IndexVectorX pbat::geometry::TetrahedralAabbHierarchy::PrimitivesContainingPoints	(	Eigen::MatrixBase< TDerivedP > const &	P,
		bool	bParallelize = true ) const

inline

For each point in P, returns the index of the primitive containing it.

Template Parameters

TDerivedP Eigen matrix type

Parameters

P	`\|kDims\|x\|# points\|` matrix of points
bParallelize	Whether to parallelize the computation

Returns: |# points| vector of primitive indices containing the points

◆ PrimitivesContainingPoints() [2/2]

template<class TDerivedP, class FCull>

IndexVectorX pbat::geometry::TetrahedralAabbHierarchy::PrimitivesContainingPoints	(	Eigen::MatrixBase< TDerivedP > const &	P,
		FCull	fCull,
		bool	bParallelize = true ) const

inline

For each point in P, returns the index of the primitive containing it.

Template Parameters

TDerivedP	Eigen matrix type
FCull	Culling function type

Parameters

P	`\|kDims\|x\|# points\|` matrix of points
fCull	Culling function
bParallelize	Whether to parallelize the computation

Returns: |# points| vector of primitive indices containing the points

◆ SetV()

template<class TDerivedP>

void pbat::geometry::TetrahedralAabbHierarchy::SetV ( Eigen::MatrixBase< TDerivedP > const & P )

inline

Updates this BVH's mesh's vertex positions.

Template Parameters

TDerivedP Eigen matrix type

Parameters

P	`\|kDims\|x\|# verts\|` matrix of vertex positions

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

C:/git/PhysicsBasedAnimationToolkit/source/pbat/geometry/TetrahedralAabbHierarchy.h
C:/git/PhysicsBasedAnimationToolkit/source/pbat/geometry/TetrahedralAabbHierarchy.cpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BaseType

Constructor & Destructor Documentation

◆ TetrahedralAabbHierarchy()

Member Function Documentation

◆ BoundingVolumeOf()

◆ GetBoundingVolumes()

◆ GetC()

◆ GetV()

◆ NearestPrimitivesToPoints()

◆ OverlappingPrimitives()

◆ Primitive()

◆ PrimitiveLocation()

◆ PrimitivesContainingPoints() [1/2]

◆ PrimitivesContainingPoints() [2/2]

◆ SetV()