Program Listing for File convex.h
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#ifndef HPP_FCL_SHAPE_CONVEX_H
#define HPP_FCL_SHAPE_CONVEX_H
#include <hpp/fcl/shape/geometric_shapes.h>
namespace hpp {
namespace fcl {
template <typename PolygonT>
class Convex : public ConvexBase {
public:
Convex() : ConvexBase(), polygons(NULL), num_polygons(0) {}
Convex(bool ownStorage, Vec3f* points_, unsigned int num_points_,
PolygonT* polygons_, unsigned int num_polygons_);
Convex(const Convex& other);
~Convex();
PolygonT* polygons;
unsigned int num_polygons;
Matrix3f computeMomentofInertia() const;
Vec3f computeCOM() const;
FCL_REAL computeVolume() const;
void set(bool ownStorage, Vec3f* points, unsigned int num_points,
PolygonT* polygons, unsigned int num_polygons);
virtual Convex<PolygonT>* clone() const;
protected:
void fillNeighbors();
};
} // namespace fcl
} // namespace hpp
#include <hpp/fcl/shape/details/convex.hxx>
#endif