shape/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