BV_fitter_base.h
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35 
38 #ifndef FCL_BV_FITTERBASE_H
39 #define FCL_BV_FITTERBASE_H
40 
41 #include "fcl/math/triangle.h"
43 #include "fcl/math/bv/kIOS.h"
44 #include "fcl/math/bv/OBBRSS.h"
45 #include <iostream>
46 
47 namespace fcl
48 {
49 
50 namespace detail
51 {
52 
54 template <typename BV>
55 class FCL_EXPORT BVFitterBase
56 {
57 public:
58 
59  using S = typename BV::S;
60 
62  virtual void set(Vector3<S>* vertices_, Triangle* tri_indices_, BVHModelType type_) = 0;
63 
65  virtual void set(Vector3<S>* vertices_, Vector3<S>* prev_vertices_, Triangle* tri_indices_, BVHModelType type_) = 0;
66 
68  virtual BV fit(unsigned int* primitive_indices, int num_primitives) = 0;
69 
71  virtual void clear() = 0;
72 };
73 
74 } // namespace detail
75 } // namespace fcl
76 
77 #endif
BVH_internal.h
fcl::detail::BVFitterBase
Interface for fitting a bv given the triangles or points inside it.
Definition: BV_fitter_base.h:55
triangle.h
fcl::BVHModelType
BVHModelType
BVH model type.
Definition: BVH_internal.h:75
fcl::Triangle
Triangle with 3 indices for points.
Definition: triangle.h:48
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::detail::BVFitterBase::S
typename BV::S S
Definition: BV_fitter_base.h:59
OBBRSS.h
fcl::fit
FCL_EXPORT void fit(const Vector3< typename BV::S > *const ps, int n, BV &bv)
Compute a bounding volume that fits a set of n points.
Definition: math/bv/utility-inl.h:671
kIOS.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Dec 5 2023 03:40:48