motion_base.h

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#ifndef FCL_CCD_MOTION_BASE_H
#define FCL_CCD_MOTION_BASE_H


#include "fcl/math/transform.h"
#include "fcl/BV/RSS.h"

namespace fcl
{

template<typename BV>
class MotionBase
{
public:
  virtual ~MotionBase() {}

  virtual bool integrate(double dt) = 0;

  virtual FCL_REAL computeMotionBound(const BV& bv, const Vec3f& n) const = 0;

  virtual FCL_REAL computeMotionBound(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& n) const = 0;

  virtual void getCurrentTransform(Matrix3f& R, Vec3f& T) const = 0;

  virtual void getCurrentRotation(Matrix3f& R) const = 0;

  virtual void getCurrentTranslation(Vec3f& T) const = 0;

  virtual void getCurrentTransform(Transform3f& tf) const = 0;
};


}

#endif