BVTree (Artisynth API documentation)

java.lang.Object
- maspack.geometry.BVTree

All Implemented Interfaces:

IsRenderable

Direct Known Subclasses:

AABBTree, OBBTree
```
public abstract class BVTree
extends java.lang.Object
implements IsRenderable
```
Base class for a bounding volume tree composed of a hierarchy of bounding volumes.

Author:

lloyd

Field Summary
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors
Constructor and Description

BVTree()

Constructors
Constructor and Description
`BVTree()`

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`abstract void`	`build(Boundable[] elems, int num)` Builds a bounding volume tree for a set of elements.
`void`	`build(java.util.Collection<? extends Boundable> elist)` Builds a bounding volume tree for a set of elements.
`void`	`build(MeshBase mesh)` Builds a bounding volume tree for a mesh.
`RigidTransform3d`	`getBvhToWorld()` Returns the transform that converts points from the local coordinates of this tree to world coordinates.
`void`	`getBvhToWorld(RigidTransform3d X)` Returns the transform that converts points from the local coordinates of this tree to world coordinates.
`void`	`getCenter(Vector3d center)` Returns a center point for this bounding volume hierarchy.
`java.util.ArrayList<BVNode>`	`getLeafNodes()` Returns all the leaf nodes in this tree.
`double`	`getMargin()` Returns the extra distance margin by which bounding volumes in this tree should surround their elements.
`int`	`getMaxLeafElements()` Returns the maximum number of elements that may be contained in a leaf node.
`double`	`getRadius()` Returns an approximate "radius" for this bounding volume hierarchy.
`int`	`getRenderHints()` Returns a bit code giving rendering hints about this renderable.
`abstract BVNode`	`getRoot()` Returns the root bounding volume for this tree
`void`	`intersectLine(java.util.ArrayList<BVNode> nodes, Point3d origin, Vector3d dir, double min, double max)` Returns a list of all leaf nodes in this tree which intersect a line.
`void`	`intersectLineSegment(java.util.ArrayList<BVNode> nodes, Point3d p1, Point3d p2)` Returns a list of all leaf nodes in this tree which intersect a line segment.
`void`	`intersectPlane(java.util.ArrayList<BVNode> nodes, Plane plane)` Returns a list of all leaf nodes in this tree which intersect a plane.
`void`	`intersectPoint(java.util.ArrayList<BVNode> nodes, Point3d pnt)` Returns a list of all leaf nodes in this tree which contain a specified point.
`void`	`intersectSphere(java.util.ArrayList<BVNode> nodes, Point3d center, double r)` Returns a list of all leaf nodes in this tree which intersect a sphere.
`void`	`intersectTree(java.util.ArrayList<BVNode> nodes1, java.util.ArrayList<BVNode> nodes2, BVTree bvt)` Returns all intersecting pairs of leaf nodes between this tree and another tree.
`void`	`intersectTree(java.util.ArrayList<BVNode> nodes1, java.util.ArrayList<BVNode> nodes2, BVTree bvt, RigidTransform3d X21)` Returns all intersecting pairs of leaf nodes between this tree and another tree.
`int`	`numberNodes()` Numbers all nodes in this tree in depth-first order and returns the total number of nodes.
`int`	`numNodes()` Returns the number of nodes in this tree.
`void`	`prerender(RenderList list)` Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates).
`void`	`print()`
`void`	`print(java.io.PrintWriter pw)`
`void`	`printElement(java.io.PrintWriter pw, Boundable src)`
`void`	`printNumLeafFaces(java.lang.String msg)`
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`void`	`setBvhToWorld(RigidTransform3d X)` Sets the transform that converts points from the local coordinates of this tree to world coordinates.
`void`	`setMargin(double margin)` Sets the extra distance margin by which bounding volumes in this tree should surround their elements.
`void`	`setMaxLeafElements(int max)` Sets the maximum number of elements that may be contained in a leaf node.
`abstract void`	`update()` Updates the bounding volumes in this tree to ensure that they properly contain their enclosed elements.
`void`	`updateBounds(Vector3d min, Vector3d max)` Update the minimum and maximum points for this object.

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - BVTree
```
public BVTree()
```
- Method Detail
  - getRadius
```
public double getRadius()
```
    Returns an approximate "radius" for this bounding volume hierarchy. This is just the radius of the root bounding volume.
    
    Returns:
    
    approximate radius of this bounding volume hierarchy.
  - getCenter
```
public void getCenter(Vector3d center)
```
    Returns a center point for this bounding volume hierarchy. This is just the center of the root bounding volume, transformed into world coordinates.
    
    Parameters:
    
    center - returns the center of this bounding volume hierarchy.
  - getBvhToWorld
```
public RigidTransform3d getBvhToWorld()
```
    Returns the transform that converts points from the local coordinates of this tree to world coordinates.
    
    Returns:
    
    transform from tree to world coordinates. Should not be modified.
    
    See Also:
    
    setBvhToWorld(maspack.matrix.RigidTransform3d)
  - setBvhToWorld
```
public void setBvhToWorld(RigidTransform3d X)
```
    Sets the transform that converts points from the local coordinates of this tree to world coordinates. If the tree is associated with a mesh, then this transform should generally be set to the same value as that returned by MeshBase.getMeshToWorld(maspack.matrix.RigidTransform3d).
    
    Parameters:
    
    X - new transform value
    
    See Also:
    
    getBvhToWorld()
  - getBvhToWorld
```
public void getBvhToWorld(RigidTransform3d X)
```
    Returns the transform that converts points from the local coordinates of this tree to world coordinates.
    
    Parameters:
    
    X - returns the transform for this tree
    
    See Also:
    
    setBvhToWorld(maspack.matrix.RigidTransform3d)
  - getRoot
```
public abstract BVNode getRoot()
```
    Returns the root bounding volume for this tree
    
    Returns:
    
    root bounding volume
  - getMaxLeafElements
```
public int getMaxLeafElements()
```
    Returns the maximum number of elements that may be contained in a leaf node.
    
    Returns:
    
    maximum number of leaf elements
    
    See Also:
    
    setMaxLeafElements(int)
  - setMaxLeafElements
```
public void setMaxLeafElements(int max)
```
    Sets the maximum number of elements that may be contained in a leaf node. Setting this value will only be effective for subsequent build calls.
    
    Parameters:
    
    max - maximum number of leaf elements
    
    See Also:
    
    getMaxLeafElements()
  - setMargin
```
public void setMargin(double margin)
```
    Sets the extra distance margin by which bounding volumes in this tree should surround their elements. This means that all elements within the tree should be at least a distance margin away from the boundaries of their containing volumes. Setting this value will only be effective for subsequent build calls or update() calls.
    The purpose of a margin is mainly to overcome numercial errors in determining containment.
    
    Parameters:
    
    margin - extra distance margin
    
    See Also:
    
    getMargin(), update()
  - getMargin
```
public double getMargin()
```
    Returns the extra distance margin by which bounding volumes in this tree should surround their elements.
    
    Returns:
    
    extra distance margin
    
    See Also:
    
    setMargin(double)
  - build
```
public void build(java.util.Collection<? extends Boundable> elist)
```
    Builds a bounding volume tree for a set of elements.
    
    Parameters:
    
    elist - elements around which this tree is to be built.
  - build
```
public abstract void build(Boundable[] elems,
                           int num)
```
    Builds a bounding volume tree for a set of elements.
    
    Parameters:
    
    elems - elements around which this tree is to be built.
    
    num - number of elements
  - build
```
public void build(MeshBase mesh)
```
    Builds a bounding volume tree for a mesh. The element types used to build the mesh are the same as those returned by getElementsForMesh(maspack.geometry.MeshBase).
    
    Parameters:
    
    mesh - mesh for which the tree should be built
  - intersectPoint
```
public void intersectPoint(java.util.ArrayList<BVNode> nodes,
                           Point3d pnt)
```
    Returns a list of all leaf nodes in this tree which contain a specified point.
    
    Parameters:
    
    nodes - returns all leaf nodes containing the point
    
    pnt - point to test for (world coordinates)
  - intersectSphere
```
public void intersectSphere(java.util.ArrayList<BVNode> nodes,
                            Point3d center,
                            double r)
```
    Returns a list of all leaf nodes in this tree which intersect a sphere.
    
    Parameters:
    
    nodes - returns all leaf nodes intersecting the sphere
    
    center - center of the sphere (world coordinates)
    
    r - sphere radius
  - intersectPlane
```
public void intersectPlane(java.util.ArrayList<BVNode> nodes,
                           Plane plane)
```
    Returns a list of all leaf nodes in this tree which intersect a plane.
    
    Parameters:
    
    nodes - returns all leaf nodes intersecting the plane
    
    plane - plane to intersect with (world coordinates)
  - intersectLine
```
public void intersectLine(java.util.ArrayList<BVNode> nodes,
                          Point3d origin,
                          Vector3d dir,
                          double min,
                          double max)
```
    Returns a list of all leaf nodes in this tree which intersect a line. The line is described by a point and a direction, such that points x along the line can be described by a parameter s according to
```
 x = origin + s dir
 
```
    The line can be given finite bounds by specifying maximum and minimum bounds for s.
    Parameters:
    
    nodes - returns all leaf nodes intersecting the line
    
    origin - originating point for the line (world coordinates)
    
    dir - direction of the line (world coordinates)
    
    min - minimum s value for the line, or -infinity if there is no minimum value
    
    max - maximum s value for the line, or +infinity if there is no maximum value
  - intersectTree
```
public void intersectTree(java.util.ArrayList<BVNode> nodes1,
                          java.util.ArrayList<BVNode> nodes2,
                          BVTree bvt)
```
    Returns all intersecting pairs of leaf nodes between this tree and another tree. The pairs are returned in two arrays of equal length. The relative coordinates frames of each tree (as specified by getBvhToWorld()) are taken into account when computing this intersection.
    
    Parameters:
    
    nodes1 - intersecting leaf nodes from this tree
    
    nodes2 - intersecting leaf nodes from the other tree
    
    bvt - other tree to intersect with
  - numberNodes
```
public int numberNodes()
```
    Numbers all nodes in this tree in depth-first order and returns the total number of nodes.
    
    Returns:
    
    number of nodes in the tree
  - intersectTree
```
public void intersectTree(java.util.ArrayList<BVNode> nodes1,
                          java.util.ArrayList<BVNode> nodes2,
                          BVTree bvt,
                          RigidTransform3d X21)
```
    Returns all intersecting pairs of leaf nodes between this tree and another tree. The pairs are returned in two arrays of equal length. The relative coordinate transformation between the two tree is specified explicity and not based on the values returned by getBvhToWorld().
    
    Parameters:
    
    nodes1 - intersecting leaf nodes from this tree
    
    nodes2 - intersecting leaf nodes from the other tree
    
    bvt - other tree to intersect with
    
    X21 - transform from the coordinate frame of the other tree to that of this tree.
  - intersectLineSegment
```
public void intersectLineSegment(java.util.ArrayList<BVNode> nodes,
                                 Point3d p1,
                                 Point3d p2)
```
    Returns a list of all leaf nodes in this tree which intersect a line segment.
    
    Parameters:
    
    p1 - first segment end point
    
    p2 - second segment end point
    
    nodes - returns all leaf nodes intersecting the line segment
  - update
```
public abstract void update()
```
    Updates the bounding volumes in this tree to ensure that they properly contain their enclosed elements. This should be called when the positions of the elements changes (such when the vertices of mesh change position).
    
    See Also:
    
    setMargin(double)
  - getRenderHints
```
public int getRenderHints()
```
    Returns a bit code giving rendering hints about this renderable. Current bit codes include TRANSPARENT and TWO_DIMENSIONAL.
    
    Specified by:
    
    getRenderHints in interface IsRenderable
    
    Returns:
    
    bit code of rendering hints.
  - updateBounds
```
public void updateBounds(Vector3d min,
                         Vector3d max)
```
    Update the minimum and maximum points for this object. In an x-y-z coordinate system with x directed to the right and y directed upwards, the minimum and maximum points can be thought of as defining the left-lower-far and right-upper-near corners of a bounding cube. This method should only reduce the elements of the minimum point and increase the elements of the maximum point, since it may be used as part of an iteration to determine the bounding cube for several different objects.
    
    Specified by:
    
    updateBounds in interface IsRenderable
    
    Parameters:
    
    min - minimum point
    
    max - maximum point
  - prerender
```
public void prerender(RenderList list)
```
    Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates). The object may add internal objects to the list of objects being rendered, by calling
    list.addIfVisible (obj);
    for each of the objects in question.
    
    Specified by:
    
    prerender in interface IsRenderable
    
    Parameters:
    
    list - list of objects to be rendered
  - render
```
public void render(Renderer renderer,
                   int flags)
```
    Render this object using the functionality of the supplied Renderer.
    
    Specified by:
    
    render in interface IsRenderable
    
    Parameters:
    
    renderer - provides the functionality used to perform the rendering.
    
    flags - flags that may be used to control different aspects of the rendering. Flags are defined in Renderer and currently include Renderer.HIGHLIGHT and Renderer.SORT_FACES.
  - print
```
public void print()
```
  - print
```
public void print(java.io.PrintWriter pw)
```
  - printElement
```
public void printElement(java.io.PrintWriter pw,
                         Boundable src)
```
  - getLeafNodes
```
public java.util.ArrayList<BVNode> getLeafNodes()
```
    Returns all the leaf nodes in this tree.
    
    Returns:
    
    all leaf nodes
  - numNodes
```
public int numNodes()
```
    Returns the number of nodes in this tree.
    
    Returns:
    
    number of nodes in the tree
  - printNumLeafFaces
```
public void printNumLeafFaces(java.lang.String msg)
```

Class BVTree

Field Summary

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

BVTree

Method Detail

getRadius

getCenter

getBvhToWorld

setBvhToWorld

getBvhToWorld

getRoot

getMaxLeafElements

setMaxLeafElements

setMargin

getMargin

build

build

build

intersectPoint

intersectSphere

intersectPlane

intersectLine

intersectTree

numberNodes

intersectTree

intersectLineSegment

update

getRenderHints

updateBounds

prerender

render

print

print

printElement

getLeafNodes

numNodes

printNumLeafFaces