collision_geometry.h

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#ifndef FCL_COLLISION_GEOMETRY_H
#define FCL_COLLISION_GEOMETRY_H
 
#include <memory>
 
#include "fcl/math/bv/AABB.h"
#include "fcl/math/motion/motion_base.h"
 
namespace fcl
{
 
enum OBJECT_TYPE {OT_UNKNOWN, OT_BVH, OT_GEOM, OT_OCTREE, OT_COUNT};
 
enum NODE_TYPE {BV_UNKNOWN, BV_AABB, BV_OBB, BV_RSS, BV_kIOS, BV_OBBRSS, BV_KDOP16, BV_KDOP18, BV_KDOP24,
                GEOM_BOX, GEOM_SPHERE, GEOM_ELLIPSOID, GEOM_CAPSULE, GEOM_CONE, GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE, GEOM_HALFSPACE, GEOM_TRIANGLE, GEOM_OCTREE, NODE_COUNT};
 
template <typename S>
class FCL_EXPORT CollisionGeometry
{
public:
  CollisionGeometry();
 
  virtual ~CollisionGeometry();
 
  virtual OBJECT_TYPE getObjectType() const;
 
  virtual NODE_TYPE getNodeType() const;
 
  virtual void computeLocalAABB() = 0;
 
  void* getUserData() const;
 
  void setUserData(void *data);
 
  bool isOccupied() const;
 
  bool isFree() const;
 
  bool isUncertain() const;
 
  Vector3<S> aabb_center;
 
  S aabb_radius;
 
  AABB<S> aabb_local;
 
  void* user_data;
 
  S cost_density;
 
  S threshold_occupied;
 
  S threshold_free;
 
  virtual Vector3<S> computeCOM() const;
 
  virtual Matrix3<S> computeMomentofInertia() const;
 
  virtual S computeVolume() const;
 
  virtual Matrix3<S> computeMomentofInertiaRelatedToCOM() const;
 
};
 
using CollisionGeometryf = CollisionGeometry<float>;
using CollisionGeometryd = CollisionGeometry<double>;
 
} // namespace fcl
 
#include "fcl/geometry/collision_geometry-inl.h"
 
#endif