geometric_shape_to_BVH_model.h

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#ifndef FCL_SHAPE_GEOMETRICSHAPETOBVHMODEL_H
#define FCL_SHAPE_GEOMETRICSHAPETOBVHMODEL_H

#include "fcl/geometry/bvh/BVH_model.h"
#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/capsule.h"
#include "fcl/geometry/shape/cone.h"
#include "fcl/geometry/shape/convex.h"
#include "fcl/geometry/shape/cylinder.h"
#include "fcl/geometry/shape/ellipsoid.h"
#include "fcl/geometry/shape/halfspace.h"
#include "fcl/geometry/shape/plane.h"
#include "fcl/geometry/shape/sphere.h"
#include "fcl/geometry/shape/triangle_p.h"

namespace fcl
{
enum class FinalizeModel{
        DO,
        DONT
};


template<typename BV>
int generateBVHModel(BVHModel<BV>& model, const Box<typename BV::S>& shape, const Transform3<typename BV::S>& pose, FinalizeModel finalize_model = FinalizeModel::DO);

template<typename BV>
int generateBVHModel(BVHModel<BV>& model, const Sphere<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int seg, unsigned int ring, FinalizeModel finalize_model = FinalizeModel::DO);

template<typename BV>
int generateBVHModel(BVHModel<BV>& model, const Sphere<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int n_faces_for_unit_sphere, FinalizeModel finalize_model = FinalizeModel::DO);

template<typename BV>
int generateBVHModel(BVHModel<BV>& model, const Ellipsoid<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int seg, unsigned int ring, FinalizeModel finalize_model = FinalizeModel::DO);

template<typename BV>
int generateBVHModel(BVHModel<BV>& model, const Ellipsoid<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int n_faces_for_unit_ellipsoid, FinalizeModel finalize_model = FinalizeModel::DO);

template<typename BV>
int generateBVHModel(BVHModel<BV>& model, const Cylinder<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int circle_split_tot, unsigned int h_num, FinalizeModel finalize_model = FinalizeModel::DO);

template<typename BV>
int generateBVHModel(BVHModel<BV>& model, const Cylinder<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int circle_split_tot_for_unit_cylinder, FinalizeModel finalize_model = FinalizeModel::DO);


template<typename BV>
int generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int circle_split_tot, unsigned int h_num, FinalizeModel finalize_model = FinalizeModel::DO);

template<typename BV>
int generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int circle_split_tot_for_unit_cone, FinalizeModel finalize_model = FinalizeModel::DO);
 // end of doxygen group generateBVHModel

} // namespace fcl

#include "fcl/geometry/geometric_shape_to_BVH_model-inl.h"

#endif