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<div class="title">BVAlgorithms.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#ifndef EIGEN_BVALGORITHMS_H</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor"></span><span class="preprocessor">#define EIGEN_BVALGORITHMS_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">namespace </span>Eigen { </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#ifndef EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor"></span><span class="keyword">template</span><<span class="keyword">typename</span> BVH, <span class="keyword">typename</span> Intersector></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keywordtype">bool</span> intersect_helper(<span class="keyword">const</span> BVH &tree, Intersector &intersector, <span class="keyword">typename</span> BVH::Index root)</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> {</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::Index Index;</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::VolumeIterator VolIter;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::ObjectIterator ObjIter;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  VolIter vBegin = VolIter(), vEnd = VolIter();</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  ObjIter oBegin = ObjIter(), oEnd = ObjIter();</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  std::vector<Index> todo(1, root);</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordflow">while</span>(!todo.empty()) {</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  tree.getChildren(todo.back(), vBegin, vEnd, oBegin, oEnd);</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  todo.pop_back();</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">for</span>(; vBegin != vEnd; ++vBegin) <span class="comment">//go through child volumes</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">if</span>(intersector.intersectVolume(tree.getVolume(*vBegin)))</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  todo.push_back(*vBegin);</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">for</span>(; oBegin != oEnd; ++oBegin) <span class="comment">//go through child objects</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordflow">if</span>(intersector.intersectObject(*oBegin))</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>; <span class="comment">//intersector said to stop query</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  }</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> }</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#endif //not EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">template</span><<span class="keyword">typename</span> Volume1, <span class="keyword">typename</span> Object1, <span class="keyword">typename</span> Object2, <span class="keyword">typename</span> Intersector></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">struct </span>intersector_helper1</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> {</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  intersector_helper1(<span class="keyword">const</span> Object2 &inStored, Intersector &in) : stored(inStored), intersector(in) {}</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordtype">bool</span> intersectVolume(<span class="keyword">const</span> Volume1 &vol) { <span class="keywordflow">return</span> intersector.intersectVolumeObject(vol, stored); }</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">bool</span> intersectObject(<span class="keyword">const</span> Object1 &obj) { <span class="keywordflow">return</span> intersector.intersectObjectObject(obj, stored); }</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  Object2 stored;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  Intersector &intersector;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  intersector_helper1& operator=(<span class="keyword">const</span> intersector_helper1&);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> };</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="keyword">template</span><<span class="keyword">typename</span> Volume2, <span class="keyword">typename</span> Object2, <span class="keyword">typename</span> Object1, <span class="keyword">typename</span> Intersector></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="keyword">struct </span>intersector_helper2</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> {</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  intersector_helper2(<span class="keyword">const</span> Object1 &inStored, Intersector &in) : stored(inStored), intersector(in) {}</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordtype">bool</span> intersectVolume(<span class="keyword">const</span> Volume2 &vol) { <span class="keywordflow">return</span> intersector.intersectObjectVolume(stored, vol); }</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordtype">bool</span> intersectObject(<span class="keyword">const</span> Object2 &obj) { <span class="keywordflow">return</span> intersector.intersectObjectObject(stored, obj); }</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  Object1 stored;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  Intersector &intersector;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  intersector_helper2& operator=(<span class="keyword">const</span> intersector_helper2&);</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> };</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> } <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="keyword">template</span><<span class="keyword">typename</span> BVH, <span class="keyword">typename</span> Intersector></div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a07d8e283f082c972338f3fc4f644b2a9"> 79</a></span> <span class="keywordtype">void</span> <a class="code" href="namespaceEigen.html#a07d8e283f082c972338f3fc4f644b2a9">BVIntersect</a>(<span class="keyword">const</span> BVH &tree, Intersector &intersector)</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> {</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  internal::intersect_helper(tree, intersector, tree.getRootIndex());</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> }</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="keyword">template</span><<span class="keyword">typename</span> BVH1, <span class="keyword">typename</span> BVH2, <span class="keyword">typename</span> Intersector></div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="namespaceEigen.html#ac3b8047a3ee05b5e6fec4668197a9a43"> 93</a></span> <span class="keywordtype">void</span> <a class="code" href="namespaceEigen.html#a07d8e283f082c972338f3fc4f644b2a9">BVIntersect</a>(<span class="keyword">const</span> BVH1 &tree1, <span class="keyword">const</span> BVH2 &tree2, Intersector &intersector) <span class="comment">//TODO: tandem descent when it makes sense</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> {</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::Index Index1;</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::Index Index2;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keyword">typedef</span> internal::intersector_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Intersector> Helper1;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">typedef</span> internal::intersector_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Intersector> Helper2;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::VolumeIterator VolIter1;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::ObjectIterator ObjIter1;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::VolumeIterator VolIter2;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::ObjectIterator ObjIter2;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  std::vector<std::pair<Index1, Index2> > todo(1, std::make_pair(tree1.getRootIndex(), tree2.getRootIndex()));</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">while</span>(!todo.empty()) {</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  tree1.getChildren(todo.back().first, vBegin1, vEnd1, oBegin1, oEnd1);</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  tree2.getChildren(todo.back().second, vBegin2, vEnd2, oBegin2, oEnd2);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  todo.pop_back();</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">for</span>(; vBegin1 != vEnd1; ++vBegin1) { <span class="comment">//go through child volumes of first tree</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keyword">const</span> <span class="keyword">typename</span> BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordflow">for</span>(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { <span class="comment">//go through child volumes of second tree</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">if</span>(intersector.intersectVolumeVolume(vol1, tree2.getVolume(*vCur2)))</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  todo.push_back(std::make_pair(*vBegin1, *vCur2));</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">for</span>(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {<span class="comment">//go through child objects of second tree</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  Helper1 helper(*oCur2, intersector);</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordflow">if</span>(internal::intersect_helper(tree1, helper, *vBegin1))</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">return</span>; <span class="comment">//intersector said to stop query</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  }</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  }</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">for</span>(; oBegin1 != oEnd1; ++oBegin1) { <span class="comment">//go through child objects of first tree</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordflow">for</span>(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { <span class="comment">//go through child volumes of second tree</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  Helper2 helper(*oBegin1, intersector);</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">if</span>(internal::intersect_helper(tree2, helper, *vCur2))</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">return</span>; <span class="comment">//intersector said to stop query</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  }</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">for</span>(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {<span class="comment">//go through child objects of second tree</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">if</span>(intersector.intersectObjectObject(*oBegin1, *oCur2))</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordflow">return</span>; <span class="comment">//intersector said to stop query</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  }</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  }</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  }</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> }</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="preprocessor">#ifndef EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="preprocessor"></span><span class="keyword">template</span><<span class="keyword">typename</span> BVH, <span class="keyword">typename</span> Minimizer></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">typename</span> Minimizer::Scalar minimize_helper(<span class="keyword">const</span> BVH &tree, Minimizer &minimizer, <span class="keyword">typename</span> BVH::Index root, <span class="keyword">typename</span> Minimizer::Scalar minimum)</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> {</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> Minimizer::Scalar Scalar;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::Index Index;</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keyword">typedef</span> std::pair<Scalar, Index> QueueElement; <span class="comment">//first element is priority</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::VolumeIterator VolIter;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH::ObjectIterator ObjIter;</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  VolIter vBegin = VolIter(), vEnd = VolIter();</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  ObjIter oBegin = ObjIter(), oEnd = ObjIter();</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; <span class="comment">//smallest is at the top</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  todo.push(std::make_pair(Scalar(), root));</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> </div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">while</span>(!todo.empty()) {</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  tree.getChildren(todo.top().second, vBegin, vEnd, oBegin, oEnd);</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  todo.pop();</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> </div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">for</span>(; oBegin != oEnd; ++oBegin) <span class="comment">//go through child objects</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  minimum = (std::min)(minimum, minimizer.minimumOnObject(*oBegin));</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">for</span>(; vBegin != vEnd; ++vBegin) { <span class="comment">//go through child volumes</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  Scalar val = minimizer.minimumOnVolume(tree.getVolume(*vBegin));</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordflow">if</span>(val < minimum)</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  todo.push(std::make_pair(val, *vBegin));</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  }</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  }</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> </div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">return</span> minimum;</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="preprocessor">#endif //not EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="keyword">template</span><<span class="keyword">typename</span> Volume1, <span class="keyword">typename</span> Object1, <span class="keyword">typename</span> Object2, <span class="keyword">typename</span> Minimizer></div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="keyword">struct </span>minimizer_helper1</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> {</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> Minimizer::Scalar Scalar;</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  minimizer_helper1(<span class="keyword">const</span> Object2 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  Scalar minimumOnVolume(<span class="keyword">const</span> Volume1 &vol) { <span class="keywordflow">return</span> minimizer.minimumOnVolumeObject(vol, stored); }</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  Scalar minimumOnObject(<span class="keyword">const</span> Object1 &obj) { <span class="keywordflow">return</span> minimizer.minimumOnObjectObject(obj, stored); }</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  Object2 stored;</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  Minimizer &minimizer;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  minimizer_helper1& operator=(<span class="keyword">const</span> minimizer_helper1&);</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> };</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="keyword">template</span><<span class="keyword">typename</span> Volume2, <span class="keyword">typename</span> Object2, <span class="keyword">typename</span> Object1, <span class="keyword">typename</span> Minimizer></div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="keyword">struct </span>minimizer_helper2</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> {</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> Minimizer::Scalar Scalar;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  minimizer_helper2(<span class="keyword">const</span> Object1 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  Scalar minimumOnVolume(<span class="keyword">const</span> Volume2 &vol) { <span class="keywordflow">return</span> minimizer.minimumOnObjectVolume(stored, vol); }</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  Scalar minimumOnObject(<span class="keyword">const</span> Object2 &obj) { <span class="keywordflow">return</span> minimizer.minimumOnObjectObject(stored, obj); }</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  Object1 stored;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  Minimizer &minimizer;</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  minimizer_helper2& operator=(<span class="keyword">const</span> minimizer_helper2&);</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> };</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> </div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> } <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="keyword">template</span><<span class="keyword">typename</span> BVH, <span class="keyword">typename</span> Minimizer></div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="namespaceEigen.html#adcbe73ac1482eacab0e18ee32c25508e"> 219</a></span> <span class="keyword">typename</span> Minimizer::Scalar <a class="code" href="namespaceEigen.html#adcbe73ac1482eacab0e18ee32c25508e">BVMinimize</a>(<span class="keyword">const</span> BVH &tree, Minimizer &minimizer)</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> {</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">return</span> internal::minimize_helper(tree, minimizer, tree.getRootIndex(), (std::numeric_limits<typename Minimizer::Scalar>::max)());</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> }</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="keyword">template</span><<span class="keyword">typename</span> BVH1, <span class="keyword">typename</span> BVH2, <span class="keyword">typename</span> Minimizer></div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="namespaceEigen.html#a915f6adc8b195c94a83c35de6a842556"> 235</a></span> <span class="keyword">typename</span> Minimizer::Scalar <a class="code" href="namespaceEigen.html#adcbe73ac1482eacab0e18ee32c25508e">BVMinimize</a>(<span class="keyword">const</span> BVH1 &tree1, <span class="keyword">const</span> BVH2 &tree2, Minimizer &minimizer)</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> {</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> Minimizer::Scalar Scalar;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::Index Index1;</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::Index Index2;</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keyword">typedef</span> internal::minimizer_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Minimizer> Helper1;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keyword">typedef</span> internal::minimizer_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Minimizer> Helper2;</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keyword">typedef</span> std::pair<Scalar, std::pair<Index1, Index2> > QueueElement; <span class="comment">//first element is priority</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::VolumeIterator VolIter1;</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH1::ObjectIterator ObjIter1;</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::VolumeIterator VolIter2;</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keyword">typedef</span> <span class="keyword">typename</span> BVH2::ObjectIterator ObjIter2;</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; <span class="comment">//smallest is at the top</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  Scalar minimum = (std::numeric_limits<Scalar>::max)();</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  todo.push(std::make_pair(Scalar(), std::make_pair(tree1.getRootIndex(), tree2.getRootIndex())));</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> </div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">while</span>(!todo.empty()) {</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  tree1.getChildren(todo.top().second.first, vBegin1, vEnd1, oBegin1, oEnd1);</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  tree2.getChildren(todo.top().second.second, vBegin2, vEnd2, oBegin2, oEnd2);</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  todo.pop();</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> </div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordflow">for</span>(; oBegin1 != oEnd1; ++oBegin1) { <span class="comment">//go through child objects of first tree</span></div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">for</span>(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {<span class="comment">//go through child objects of second tree</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  minimum = (std::min)(minimum, minimizer.minimumOnObjectObject(*oBegin1, *oCur2));</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  }</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> </div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">for</span>(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { <span class="comment">//go through child volumes of second tree</span></div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  Helper2 helper(*oBegin1, minimizer);</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  minimum = (std::min)(minimum, internal::minimize_helper(tree2, helper, *vCur2, minimum));</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  }</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  }</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> </div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keywordflow">for</span>(; vBegin1 != vEnd1; ++vBegin1) { <span class="comment">//go through child volumes of first tree</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keyword">const</span> <span class="keyword">typename</span> BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> </div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">for</span>(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {<span class="comment">//go through child objects of second tree</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  Helper1 helper(*oCur2, minimizer);</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  minimum = (std::min)(minimum, internal::minimize_helper(tree1, helper, *vBegin1, minimum));</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  }</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> </div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">for</span>(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { <span class="comment">//go through child volumes of second tree</span></div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  Scalar val = minimizer.minimumOnVolumeVolume(vol1, tree2.getVolume(*vCur2));</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordflow">if</span>(val < minimum)</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  todo.push(std::make_pair(val, std::make_pair(*vBegin1, *vCur2)));</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  }</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  }</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  }</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="keywordflow">return</span> minimum;</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> }</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> </div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> } <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> </div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> <span class="preprocessor">#endif // EIGEN_BVALGORITHMS_H</span></div>
<div class="ttc" id="namespaceEigen_html_adcbe73ac1482eacab0e18ee32c25508e"><div class="ttname"><a href="namespaceEigen.html#adcbe73ac1482eacab0e18ee32c25508e">Eigen::BVMinimize</a></div><div class="ttdeci">Minimizer::Scalar BVMinimize(const BVH &tree, Minimizer &minimizer)</div><div class="ttdef"><b>Definition:</b> BVAlgorithms.h:219</div></div>
<div class="ttc" id="namespaceEigen_html_a07d8e283f082c972338f3fc4f644b2a9"><div class="ttname"><a href="namespaceEigen.html#a07d8e283f082c972338f3fc4f644b2a9">Eigen::BVIntersect</a></div><div class="ttdeci">void BVIntersect(const BVH &tree, Intersector &intersector)</div><div class="ttdef"><b>Definition:</b> BVAlgorithms.h:79</div></div>
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