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Encapsulate BVH class members.

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PiperOrigin-RevId: 662141171
Change-Id: Ica202d31dacc9cc500d0aeecded941b79002b9a1
This commit is contained in:
Kyle Bayes
2024-08-12 10:25:52 -07:00
committed by Copybara-Service
parent 648fd56ed1
commit 20cae556ee
4 changed files with 64 additions and 59 deletions
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src/user/user_objects.h
+14 -8
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@@ -112,14 +112,12 @@ class mjCBoundingVolume {
// bounding volume hierarchy
struct mjCBoundingVolumeHierarchy_ {
public:
int nbvh;
std::vector<mjtNum> bvh; // bounding boxes (nbvh x 6)
std::vector<int> child; // children of each node (nbvh x 2)
std::vector<int*> nodeid; // geom of elem id contained by the node (nbvh x 1)
std::vector<int> level; // levels of each node (nbvh x 1)
protected:
int nbvh_ = 0;
std::vector<mjtNum> bvh_; // bounding boxes (nbvh x 6)
std::vector<int> child_; // children of each node (nbvh x 2)
std::vector<int*> nodeid_; // id of elem contained by the node (nbvh x 1)
std::vector<int> level_; // levels of each node (nbvh x 1)
std::vector<mjCBoundingVolume> bvleaf_;
std::string name_;
double ipos_[3];
@@ -131,12 +129,20 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
mjCBoundingVolumeHierarchy();
// make bounding volume hierarchy
void CreateBVH(void);
void CreateBVH();
void Set(double ipos_element[3], double iquat_element[4]);
void AllocateBoundingVolumes(int nleaf);
void RemoveInactiveVolumes(int nmax);
mjCBoundingVolume* GetBoundingVolume(int id);
// public accessors
int Nbvh() const { return nbvh_; }
const std::vector<mjtNum>& Bvh() const { return bvh_; }
const std::vector<int>& Child() const { return child_; }
const std::vector<int*>& Nodeid() const { return nodeid_; }
const int* Nodeid(int id) const { return nodeid_[id]; }
const std::vector<int>& Level() const { return level_; }
private:
// internal class used during BVH construction, for partial sorting of bounding volumes
struct BVElement {