fcl: geometric_shapes_utility.h Source File

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00001 /*
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00034 
00038 #ifndef FCL_GEOMETRIC_SHAPES_UTILITY_H
00039 #define FCL_GEOMETRIC_SHAPES_UTILITY_H
00040 
00041 #include <vector>
00042 #include "fcl/shape/geometric_shapes.h"
00043 #include "fcl/BV/BV.h"
00044 
00045 namespace fcl
00046 {
00047 
00049 namespace details
00050 {
00052 std::vector<Vec3f> getBoundVertices(const Box& box, const Transform3f& tf);
00053 std::vector<Vec3f> getBoundVertices(const Sphere& sphere, const Transform3f& tf);
00054 std::vector<Vec3f> getBoundVertices(const Capsule& capsule, const Transform3f& tf);
00055 std::vector<Vec3f> getBoundVertices(const Cone& cone, const Transform3f& tf);
00056 std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder, const Transform3f& tf);
00057 std::vector<Vec3f> getBoundVertices(const Convex& convex, const Transform3f& tf);
00058 std::vector<Vec3f> getBoundVertices(const Triangle2& triangle, const Transform3f& tf);
00059 } 
00061 
00062 
00064 template<typename BV, typename S>
00065 void computeBV(const S& s, const Transform3f& tf, BV& bv)
00066 {
00067   std::vector<Vec3f> convex_bound_vertices = details::getBoundVertices(s, tf);
00068   fit(&convex_bound_vertices[0], (int)convex_bound_vertices.size(), bv);
00069 }
00070 
00071 template<>
00072 void computeBV<AABB, Box>(const Box& s, const Transform3f& tf, AABB& bv);
00073 
00074 template<>
00075 void computeBV<AABB, Sphere>(const Sphere& s, const Transform3f& tf, AABB& bv);
00076 
00077 template<>
00078 void computeBV<AABB, Capsule>(const Capsule& s, const Transform3f& tf, AABB& bv);
00079 
00080 template<>
00081 void computeBV<AABB, Cone>(const Cone& s, const Transform3f& tf, AABB& bv);
00082 
00083 template<>
00084 void computeBV<AABB, Cylinder>(const Cylinder& s, const Transform3f& tf, AABB& bv);
00085 
00086 template<>
00087 void computeBV<AABB, Convex>(const Convex& s, const Transform3f& tf, AABB& bv);
00088 
00089 template<>
00090 void computeBV<AABB, Triangle2>(const Triangle2& s, const Transform3f& tf, AABB& bv);
00091 
00092 template<>
00093 void computeBV<AABB, Halfspace>(const Halfspace& s, const Transform3f& tf, AABB& bv);
00094 
00095 template<>
00096 void computeBV<AABB, Plane>(const Plane& s, const Transform3f& tf, AABB& bv);
00097 
00098 
00099 
00100 template<>
00101 void computeBV<OBB, Box>(const Box& s, const Transform3f& tf, OBB& bv);
00102 
00103 template<>
00104 void computeBV<OBB, Sphere>(const Sphere& s, const Transform3f& tf, OBB& bv);
00105 
00106 template<>
00107 void computeBV<OBB, Capsule>(const Capsule& s, const Transform3f& tf, OBB& bv);
00108 
00109 template<>
00110 void computeBV<OBB, Cone>(const Cone& s, const Transform3f& tf, OBB& bv);
00111 
00112 template<>
00113 void computeBV<OBB, Cylinder>(const Cylinder& s, const Transform3f& tf, OBB& bv);
00114 
00115 template<>
00116 void computeBV<OBB, Convex>(const Convex& s, const Transform3f& tf, OBB& bv);
00117 
00118 template<>
00119 void computeBV<OBB, Halfspace>(const Halfspace& s, const Transform3f& tf, OBB& bv);
00120 
00121 template<>
00122 void computeBV<OBB, Plane>(const Plane& s, const Transform3f& tf, OBB& bv);
00123 
00124 
00125 template<>
00126 void computeBV<RSS, Plane>(const Plane& s, const Transform3f& tf, RSS& bv);
00127 
00128 template<>
00129 void computeBV<OBBRSS, Plane>(const Plane& s, const Transform3f& tf, OBBRSS& bv);
00130 
00131 template<>
00132 void computeBV<kIOS, Plane>(const Plane& s, const Transform3f& tf, kIOS& bv);
00133 
00134 template<>
00135 void computeBV<KDOP<16>, Plane>(const Plane& s, const Transform3f& tf, KDOP<16>& bv);
00136 
00137 template<>
00138 void computeBV<KDOP<18>, Plane>(const Plane& s, const Transform3f& tf, KDOP<18>& bv);
00139 
00140 template<>
00141 void computeBV<KDOP<24>, Plane>(const Plane& s, const Transform3f& tf, KDOP<24>& bv);
00142 
00143 
00145 void constructBox(const AABB& bv, Box& box, Transform3f& tf);
00146 
00147 void constructBox(const OBB& bv, Box& box, Transform3f& tf);
00148 
00149 void constructBox(const OBBRSS& bv, Box& box, Transform3f& tf);
00150 
00151 void constructBox(const kIOS& bv, Box& box, Transform3f& tf);
00152 
00153 void constructBox(const RSS& bv, Box& box, Transform3f& tf);
00154 
00155 void constructBox(const KDOP<16>& bv, Box& box, Transform3f& tf);
00156 
00157 void constructBox(const KDOP<18>& bv, Box& box, Transform3f& tf);
00158 
00159 void constructBox(const KDOP<24>& bv, Box& box, Transform3f& tf);
00160 
00161 void constructBox(const AABB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00162 
00163 void constructBox(const OBB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00164 
00165 void constructBox(const OBBRSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00166 
00167 void constructBox(const kIOS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00168 
00169 void constructBox(const RSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00170 
00171 void constructBox(const KDOP<16>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00172 
00173 void constructBox(const KDOP<18>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00174 
00175 void constructBox(const KDOP<24>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00176 
00177 Halfspace transform(const Halfspace& a, const Transform3f& tf);
00178 
00179 Plane transform(const Plane& a, const Transform3f& tf);
00180 
00181 }
00182 
00183 #endif