BV_splitter_base.h
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35 
38 #ifndef FCL_BV_SPLITTERBASE_H
39 #define FCL_BV_SPLITTERBASE_H
40 
41 #include "fcl/math/triangle.h"
43 #include "fcl/math/bv/kIOS.h"
44 #include "fcl/math/bv/OBBRSS.h"
45 #include <vector>
46 #include <iostream>
47 
48 namespace fcl
49 {
50 
51 namespace detail
52 {
53 
55 template <typename BV>
56 class FCL_EXPORT BVSplitterBase
57 {
58 public:
59 
60  using S = typename BV::S;
61 
63  virtual void set(
64  Vector3<S>* vertices_,
65  Triangle* tri_indices_,
66  BVHModelType type_) = 0;
67 
70  virtual void computeRule(
71  const BV& bv, unsigned int* primitive_indices, int num_primitives) = 0;
72 
74  virtual bool apply(const Vector3<S>& q) const = 0;
75 
77  virtual void clear() = 0;
78 };
79 
80 } // namespace detail
81 } // namespace fcl
82 
83 #endif
BVH_internal.h
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::BVSplitterBase
Base interface for BV splitting algorithm.
Definition: BV_splitter_base.h:56
OBBRSS.h
fcl::detail::BVSplitterBase::S
typename BV::S S
Definition: BV_splitter_base.h:60
kIOS.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Jun 22 2021 07:27:49