BV_node.h

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#ifndef FCL_BV_BVNODE_H
#define FCL_BV_BVNODE_H

#include <iostream>
#include "fcl/math/bv/OBB.h"
#include "fcl/math/bv/RSS.h"
#include "fcl/math/bv/OBBRSS.h"
#include "fcl/geometry/bvh/BV_node_base.h"

namespace fcl
{

template <typename BV>
struct FCL_EXPORT BVNode : public BVNodeBase
{
  using S = typename BV::S;

  BV bv;

  bool overlap(const BVNode& other) const;

  S distance(
      const BVNode& other,
      Vector3<S>* P1 = nullptr,
      Vector3<S>* P2 = nullptr) const;

  Vector3<S> getCenter() const;

  Matrix3<S> getOrientation() const;
};

} // namespace fcl

#include "fcl/geometry/bvh/BV_node-inl.h"

#endif