msh3PDTreeMesh.h

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#ifndef _msh3PDTreeMesh_h
#define _msh3PDTreeMesh_h
 
#include <cisstMesh/msh3PDTreeBase.h>
#include <cisstMesh/msh3Mesh.h>
#include <limits>
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh3PDTreeMesh : public msh3PDTreeBase
{
    //
    // This class implements a PD tree for a mesh shape
    //
 
    //--- Variables ---//
 
 public:
 
    msh3Mesh *Mesh;
    msh3BoundingBox Bounds;
 
    //--- Methods ---//
 
 public:
 
    // constructor
    //  mesh       - target shape from which to construct the tree
    //               (each triangle of the mesh becomes a datum in the tree)
    //  nThresh    - min number of datums to subdivide a node
    //  diagThresh - min physical size to subdivide a node
    msh3PDTreeMesh(msh3Mesh &mesh, int nThresh, double diagThresh);
 
    // destructor
    virtual ~msh3PDTreeMesh();
 
    //--- Base Class Virtual Methods ---//
    virtual vct3 DatumSortPoint(int datum) const;
    virtual void EnlargeBounds(const vctFrm3& F) const;
    virtual void EnlargeBounds(const vctFrm3& F, msh3PDTreeNode *pNode) const;
    virtual void EnlargeBounds(const vctFrm3& F, int datum, msh3BoundingBox& BB) const;
 
 
    //--- Noise Model Methods ---//
 
    inline vct3x3& DatumCov(int datum)       // return measurement noise model for this datum
    {
        return Mesh->TriangleCov[datum];
    }
    inline vct3x3* DatumCovPtr(int datum)    // return measurement noise model for this datum
    {
        return &(Mesh->TriangleCov[datum]);
    }
 
    inline vct3& DatumCovEig(int datum)         // return measurement noise model for this datum
    {
        return Mesh->TriangleCovEig[datum];
    }
    inline vct3* DatumCovEigPtr(int datum)      // return measurement noise model for this datum
    {
        return &(Mesh->TriangleCovEig[datum]);
    }
 
    // Finds the intersected points of a PDTree given a bounding distance
    int FindIntersectedPoints(const vct3 &v,
                              const double boundingDistance,
                              std::vector<int> &faceIdx);
 
};
 
#endif