Squashed 'third_party/eigen/' content from commit 61d72f6
Change-Id: Iccc90fa0b55ab44037f018046d2fcffd90d9d025
git-subtree-dir: third_party/eigen
git-subtree-split: 61d72f6383cfa842868c53e30e087b0258177257
diff --git a/unsupported/doc/examples/BVH_Example.cpp b/unsupported/doc/examples/BVH_Example.cpp
new file mode 100644
index 0000000..6b6fac0
--- /dev/null
+++ b/unsupported/doc/examples/BVH_Example.cpp
@@ -0,0 +1,52 @@
+#include <Eigen/StdVector>
+#include <unsupported/Eigen/BVH>
+#include <iostream>
+
+using namespace Eigen;
+typedef AlignedBox<double, 2> Box2d;
+
+namespace Eigen {
+ namespace internal {
+ Box2d bounding_box(const Vector2d &v) { return Box2d(v, v); } //compute the bounding box of a single point
+ }
+}
+
+struct PointPointMinimizer //how to compute squared distances between points and rectangles
+{
+ PointPointMinimizer() : calls(0) {}
+ typedef double Scalar;
+
+ double minimumOnVolumeVolume(const Box2d &r1, const Box2d &r2) { ++calls; return r1.squaredExteriorDistance(r2); }
+ double minimumOnVolumeObject(const Box2d &r, const Vector2d &v) { ++calls; return r.squaredExteriorDistance(v); }
+ double minimumOnObjectVolume(const Vector2d &v, const Box2d &r) { ++calls; return r.squaredExteriorDistance(v); }
+ double minimumOnObjectObject(const Vector2d &v1, const Vector2d &v2) { ++calls; return (v1 - v2).squaredNorm(); }
+
+ int calls;
+};
+
+int main()
+{
+ typedef std::vector<Vector2d, aligned_allocator<Vector2d> > StdVectorOfVector2d;
+ StdVectorOfVector2d redPoints, bluePoints;
+ for(int i = 0; i < 100; ++i) { //initialize random set of red points and blue points
+ redPoints.push_back(Vector2d::Random());
+ bluePoints.push_back(Vector2d::Random());
+ }
+
+ PointPointMinimizer minimizer;
+ double minDistSq = std::numeric_limits<double>::max();
+
+ //brute force to find closest red-blue pair
+ for(int i = 0; i < (int)redPoints.size(); ++i)
+ for(int j = 0; j < (int)bluePoints.size(); ++j)
+ minDistSq = std::min(minDistSq, minimizer.minimumOnObjectObject(redPoints[i], bluePoints[j]));
+ std::cout << "Brute force distance = " << sqrt(minDistSq) << ", calls = " << minimizer.calls << std::endl;
+
+ //using BVH to find closest red-blue pair
+ minimizer.calls = 0;
+ KdBVH<double, 2, Vector2d> redTree(redPoints.begin(), redPoints.end()), blueTree(bluePoints.begin(), bluePoints.end()); //construct the trees
+ minDistSq = BVMinimize(redTree, blueTree, minimizer); //actual BVH minimization call
+ std::cout << "BVH distance = " << sqrt(minDistSq) << ", calls = " << minimizer.calls << std::endl;
+
+ return 0;
+}