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| -rw-r--r-- | src/EigenUnsupported/BVH | 95 |
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diff --git a/src/EigenUnsupported/BVH b/src/EigenUnsupported/BVH deleted file mode 100644 index 666c983..0000000 --- a/src/EigenUnsupported/BVH +++ /dev/null @@ -1,95 +0,0 @@ -// This file is part of Eigen, a lightweight C++ template library -// for linear algebra. -// -// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu> -// -// This Source Code Form is subject to the terms of the Mozilla -// Public License v. 2.0. If a copy of the MPL was not distributed -// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. - -#ifndef EIGEN_BVH_MODULE_H -#define EIGEN_BVH_MODULE_H - -#include "../../Eigen/Core" -#include "../../Eigen/Geometry" -#include "../../Eigen/StdVector" -#include <algorithm> -#include <queue> - -namespace Eigen { - -/** - * \defgroup BVH_Module BVH module - * \brief This module provides generic bounding volume hierarchy algorithms - * and reference tree implementations. - * - * - * \code - * #include <unsupported/Eigen/BVH> - * \endcode - * - * A bounding volume hierarchy (BVH) can accelerate many geometric queries. This module provides a generic implementation - * of the two basic algorithms over a BVH: intersection of a query object against all objects in the hierarchy and minimization - * of a function over the objects in the hierarchy. It also provides intersection and minimization over a cartesian product of - * two BVH's. A BVH accelerates intersection by using the fact that if a query object does not intersect a volume, then it cannot - * intersect any object contained in that volume. Similarly, a BVH accelerates minimization because the minimum of a function - * over a volume is no greater than the minimum of a function over any object contained in it. - * - * Some sample queries that can be written in terms of intersection are: - * - Determine all points where a ray intersects a triangle mesh - * - Given a set of points, determine which are contained in a query sphere - * - Given a set of spheres, determine which contain the query point - * - Given a set of disks, determine if any is completely contained in a query rectangle (represent each 2D disk as a point \f$(x,y,r)\f$ - * in 3D and represent the rectangle as a pyramid based on the original rectangle and shrinking in the \f$r\f$ direction) - * - Given a set of points, count how many pairs are \f$d\pm\epsilon\f$ apart (done by looking at the cartesian product of the set - * of points with itself) - * - * Some sample queries that can be written in terms of function minimization over a set of objects are: - * - Find the intersection between a ray and a triangle mesh closest to the ray origin (function is infinite off the ray) - * - Given a polyline and a query point, determine the closest point on the polyline to the query - * - Find the diameter of a point cloud (done by looking at the cartesian product and using negative distance as the function) - * - Determine how far two meshes are from colliding (this is also a cartesian product query) - * - * This implementation decouples the basic algorithms both from the type of hierarchy (and the types of the bounding volumes) and - * from the particulars of the query. To enable abstraction from the BVH, the BVH is required to implement a generic mechanism - * for traversal. To abstract from the query, the query is responsible for keeping track of results. - * - * To be used in the algorithms, a hierarchy must implement the following traversal mechanism (see KdBVH for a sample implementation): \code - typedef Volume //the type of bounding volume - typedef Object //the type of object in the hierarchy - typedef Index //a reference to a node in the hierarchy--typically an int or a pointer - typedef VolumeIterator //an iterator type over node children--returns Index - typedef ObjectIterator //an iterator over object (leaf) children--returns const Object & - Index getRootIndex() const //returns the index of the hierarchy root - const Volume &getVolume(Index index) const //returns the bounding volume of the node at given index - void getChildren(Index index, VolumeIterator &outVBegin, VolumeIterator &outVEnd, - ObjectIterator &outOBegin, ObjectIterator &outOEnd) const - //getChildren takes a node index and makes [outVBegin, outVEnd) range over its node children - //and [outOBegin, outOEnd) range over its object children - \endcode - * - * To use the hierarchy, call BVIntersect or BVMinimize, passing it a BVH (or two, for cartesian product) and a minimizer or intersector. - * For an intersection query on a single BVH, the intersector encapsulates the query and must provide two functions: - * \code - bool intersectVolume(const Volume &volume) //returns true if the query intersects the volume - bool intersectObject(const Object &object) //returns true if the intersection search should terminate immediately - \endcode - * The guarantee that BVIntersect provides is that intersectObject will be called on every object whose bounding volume - * intersects the query (but possibly on other objects too) unless the search is terminated prematurely. It is the - * responsibility of the intersectObject function to keep track of the results in whatever manner is appropriate. - * The cartesian product intersection and the BVMinimize queries are similar--see their individual documentation. - * - * The following is a simple but complete example for how to use the BVH to accelerate the search for a closest red-blue point pair: - * \include BVH_Example.cpp - * Output: \verbinclude BVH_Example.out - */ -} - -//@{ - -#include "src/BVH/BVAlgorithms.h" -#include "src/BVH/KdBVH.h" - -//@} - -#endif // EIGEN_BVH_MODULE_H |