BV_node-inl.h

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#ifndef FCL_BV_BVNODE_INL_H
#define FCL_BV_BVNODE_INL_H
 
#include "fcl/geometry/bvh/BV_node.h"
 
namespace fcl
{
 
//==============================================================================
template <typename BV>
bool BVNode<BV>::overlap(const BVNode& other) const
{
  return bv.overlap(other.bv);
}
 
//==============================================================================
template <typename BV>
typename BVNode<BV>::S BVNode<BV>::distance(
    const BVNode& other, Vector3<S>* P1, Vector3<S>* P2) const
{
  return bv.distance(other.bv, P1, P2);
}
 
//==============================================================================
template <typename BV>
Vector3<typename BVNode<BV>::S> BVNode<BV>::getCenter() const
{
  return bv.center();
}
 
//==============================================================================
template <typename S, typename BV>
struct GetOrientationImpl
{
  static Matrix3<S> run(const BVNode<BV>& /*node*/)
  {
    return Matrix3<S>::Identity();
  }
};
 
//==============================================================================
template <typename BV>
Matrix3<typename BV::S> BVNode<BV>::getOrientation() const
{
  return GetOrientationImpl<typename BV::S, BV>::run(bv);
}
 
//==============================================================================
template <typename S>
struct GetOrientationImpl<S, OBB<S>>
{
  static Matrix3<S> run(const OBB<S>& bv)
  {
    return bv.axis;
  }
};
 
//==============================================================================
template <typename S>
struct GetOrientationImpl<S, RSS<S>>
{
  static Matrix3<S> run(const RSS<S>& bv)
  {
    return bv.axis;
  }
};
 
//==============================================================================
template <typename S>
struct GetOrientationImpl<S, OBBRSS<S>>
{
  static Matrix3<S> run(const OBBRSS<S>& bv)
  {
    return bv.obb.axis;
  }
};
 
} // namespace fcl
 
#endif