triangle_p.h

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#ifndef FCL_SHAPE_TRIANGLE_P_H
#define FCL_SHAPE_TRIANGLE_P_H

#include <iostream>

#include "fcl/geometry/shape/shape_base.h"

namespace fcl
{

template <typename S_>
class FCL_EXPORT TriangleP : public ShapeBase<S_>
{
public:

  using S = S_;

  TriangleP(const Vector3<S>& a,
            const Vector3<S>& b,
            const Vector3<S>& c);

  void computeLocalAABB() override;
  
  // Documentation inherited
  NODE_TYPE getNodeType() const override;

  Vector3<S> a;
  Vector3<S> b;
  Vector3<S> c;

  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;

  friend
  std::ostream& operator<<(std::ostream& out, const TriangleP& tri) {
    out << "TriangleP(a: " << tri.a.transpose()
        << ", b: " << tri.b.transpose() << ", c: " << tri.c.transpose() << ")";
    return out;
  }
};

using TrianglePf = TriangleP<float>;
using TrianglePd = TriangleP<double>;

} // namespace fcl

#include "fcl/geometry/shape/triangle_p-inl.h"

#endif