geometric_shapes_utility.h

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#ifndef HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H
#define HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H
 
#include <vector>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/BV/BV.h>
#include <hpp/fcl/internal/BV_fitter.h>
 
namespace hpp {
namespace fcl {
 
namespace details {
HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Box& box,
                                                   const Transform3f& tf);
HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Sphere& sphere,
                                                   const Transform3f& tf);
HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Ellipsoid& ellipsoid,
                                                   const Transform3f& tf);
HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Capsule& capsule,
                                                   const Transform3f& tf);
HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cone& cone,
                                                   const Transform3f& tf);
HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder,
                                                   const Transform3f& tf);
HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const ConvexBase& convex,
                                                   const Transform3f& tf);
HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const TriangleP& triangle,
                                                   const Transform3f& tf);
}  // namespace details
 
template <typename BV, typename S>
inline void computeBV(const S& s, const Transform3f& tf, BV& bv) {
  std::vector<Vec3f> convex_bound_vertices = details::getBoundVertices(s, tf);
  fit(&convex_bound_vertices[0], (unsigned int)convex_bound_vertices.size(),
      bv);
}
 
template <>
HPP_FCL_DLLAPI void computeBV<AABB, Box>(const Box& s, const Transform3f& tf,
                                         AABB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<AABB, Sphere>(const Sphere& s,
                                            const Transform3f& tf, AABB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<AABB, Ellipsoid>(const Ellipsoid& e,
                                               const Transform3f& tf, AABB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<AABB, Capsule>(const Capsule& s,
                                             const Transform3f& tf, AABB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<AABB, Cone>(const Cone& s, const Transform3f& tf,
                                          AABB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<AABB, Cylinder>(const Cylinder& s,
                                              const Transform3f& tf, AABB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<AABB, ConvexBase>(const ConvexBase& s,
                                                const Transform3f& tf,
                                                AABB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<AABB, TriangleP>(const TriangleP& s,
                                               const Transform3f& tf, AABB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<AABB, Halfspace>(const Halfspace& s,
                                               const Transform3f& tf, AABB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<AABB, Plane>(const Plane& s,
                                           const Transform3f& tf, AABB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<OBB, Box>(const Box& s, const Transform3f& tf,
                                        OBB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<OBB, Sphere>(const Sphere& s,
                                           const Transform3f& tf, OBB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<OBB, Capsule>(const Capsule& s,
                                            const Transform3f& tf, OBB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<OBB, Cone>(const Cone& s, const Transform3f& tf,
                                         OBB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<OBB, Cylinder>(const Cylinder& s,
                                             const Transform3f& tf, OBB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<OBB, ConvexBase>(const ConvexBase& s,
                                               const Transform3f& tf, OBB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<OBB, Halfspace>(const Halfspace& s,
                                              const Transform3f& tf, OBB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<RSS, Halfspace>(const Halfspace& s,
                                              const Transform3f& tf, RSS& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<OBBRSS, Halfspace>(const Halfspace& s,
                                                 const Transform3f& tf,
                                                 OBBRSS& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<kIOS, Halfspace>(const Halfspace& s,
                                               const Transform3f& tf, kIOS& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<KDOP<16>, Halfspace>(const Halfspace& s,
                                                   const Transform3f& tf,
                                                   KDOP<16>& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<KDOP<18>, Halfspace>(const Halfspace& s,
                                                   const Transform3f& tf,
                                                   KDOP<18>& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<KDOP<24>, Halfspace>(const Halfspace& s,
                                                   const Transform3f& tf,
                                                   KDOP<24>& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<OBB, Plane>(const Plane& s, const Transform3f& tf,
                                          OBB& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<RSS, Plane>(const Plane& s, const Transform3f& tf,
                                          RSS& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<OBBRSS, Plane>(const Plane& s,
                                             const Transform3f& tf, OBBRSS& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<kIOS, Plane>(const Plane& s,
                                           const Transform3f& tf, kIOS& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<KDOP<16>, Plane>(const Plane& s,
                                               const Transform3f& tf,
                                               KDOP<16>& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<KDOP<18>, Plane>(const Plane& s,
                                               const Transform3f& tf,
                                               KDOP<18>& bv);
 
template <>
HPP_FCL_DLLAPI void computeBV<KDOP<24>, Plane>(const Plane& s,
                                               const Transform3f& tf,
                                               KDOP<24>& bv);
 
HPP_FCL_DLLAPI void constructBox(const AABB& bv, Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const OBB& bv, Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const kIOS& bv, Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const RSS& bv, Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const KDOP<16>& bv, Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const KDOP<18>& bv, Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const KDOP<24>& bv, Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const AABB& bv, const Transform3f& tf_bv,
                                 Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const OBB& bv, const Transform3f& tf_bv,
                                 Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, const Transform3f& tf_bv,
                                 Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const kIOS& bv, const Transform3f& tf_bv,
                                 Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const RSS& bv, const Transform3f& tf_bv,
                                 Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const KDOP<16>& bv, const Transform3f& tf_bv,
                                 Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const KDOP<18>& bv, const Transform3f& tf_bv,
                                 Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI void constructBox(const KDOP<24>& bv, const Transform3f& tf_bv,
                                 Box& box, Transform3f& tf);
 
HPP_FCL_DLLAPI Halfspace transform(const Halfspace& a, const Transform3f& tf);
 
HPP_FCL_DLLAPI Plane transform(const Plane& a, const Transform3f& tf);
 
}  // namespace fcl
 
}  // namespace hpp
 
#endif