Program Listing for File BVH_utility.h
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#ifndef HPP_FCL_BVH_UTILITY_H
#define HPP_FCL_BVH_UTILITY_H
#include <hpp/fcl/BVH/BVH_model.h>
namespace hpp {
namespace fcl {
template <typename BV>
HPP_FCL_DLLAPI BVHModel<BV>* BVHExtract(const BVHModel<BV>& model,
const Transform3f& pose,
const AABB& aabb);
template <>
HPP_FCL_DLLAPI BVHModel<OBB>* BVHExtract(const BVHModel<OBB>& model,
const Transform3f& pose,
const AABB& aabb);
template <>
HPP_FCL_DLLAPI BVHModel<AABB>* BVHExtract(const BVHModel<AABB>& model,
const Transform3f& pose,
const AABB& aabb);
template <>
HPP_FCL_DLLAPI BVHModel<RSS>* BVHExtract(const BVHModel<RSS>& model,
const Transform3f& pose,
const AABB& aabb);
template <>
HPP_FCL_DLLAPI BVHModel<kIOS>* BVHExtract(const BVHModel<kIOS>& model,
const Transform3f& pose,
const AABB& aabb);
template <>
HPP_FCL_DLLAPI BVHModel<OBBRSS>* BVHExtract(const BVHModel<OBBRSS>& model,
const Transform3f& pose,
const AABB& aabb);
template <>
HPP_FCL_DLLAPI BVHModel<KDOP<16> >* BVHExtract(const BVHModel<KDOP<16> >& model,
const Transform3f& pose,
const AABB& aabb);
template <>
HPP_FCL_DLLAPI BVHModel<KDOP<18> >* BVHExtract(const BVHModel<KDOP<18> >& model,
const Transform3f& pose,
const AABB& aabb);
template <>
HPP_FCL_DLLAPI BVHModel<KDOP<24> >* BVHExtract(const BVHModel<KDOP<24> >& model,
const Transform3f& pose,
const AABB& aabb);
HPP_FCL_DLLAPI void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts,
unsigned int* indices, unsigned int n,
Matrix3f& M);
HPP_FCL_DLLAPI void getRadiusAndOriginAndRectangleSize(
Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, unsigned int n,
const Matrix3f& axes, Vec3f& origin, FCL_REAL l[2], FCL_REAL& r);
HPP_FCL_DLLAPI void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts,
unsigned int* indices, unsigned int n,
Matrix3f& axes, Vec3f& center,
Vec3f& extent);
HPP_FCL_DLLAPI void circumCircleComputation(const Vec3f& a, const Vec3f& b,
const Vec3f& c, Vec3f& center,
FCL_REAL& radius);
HPP_FCL_DLLAPI FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts,
unsigned int* indices, unsigned int n,
const Vec3f& query);
} // namespace fcl
} // namespace hpp
#endif