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