fcl » include » fcl » shape
geometric_shapes_utility.h

00001 /*
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00034 
00038 #ifndef FCL_GEOMETRIC_SHAPES_UTILITY_H
00039 #define FCL_GEOMETRIC_SHAPES_UTILITY_H
00040 
00041 #include <vector>
00042 #include "fcl/shape/geometric_shapes.h"
00043 #include "fcl/BV/BV.h"
00044 
00045 namespace fcl
00046 {
00047 
00049 namespace details
00050 {
00052 std::vector<Vec3f> getBoundVertices(const Box& box, const Transform3f& tf);
00053 std::vector<Vec3f> getBoundVertices(const Sphere& sphere, const Transform3f& tf);
00054 std::vector<Vec3f> getBoundVertices(const Capsule& capsule, const Transform3f& tf);
00055 std::vector<Vec3f> getBoundVertices(const Cone& cone, const Transform3f& tf);
00056 std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder, const Transform3f& tf);
00057 std::vector<Vec3f> getBoundVertices(const Convex& convex, const Transform3f& tf);
00058 std::vector<Vec3f> getBoundVertices(const Triangle2& triangle, const Transform3f& tf);
00059 } 
00061 
00062 
00064 template<typename BV, typename S>
00065 void computeBV(const S& s, const Transform3f& tf, BV& bv)
00066 {
00067   std::vector<Vec3f> convex_bound_vertices = details::getBoundVertices(s, tf);
00068   fit(&convex_bound_vertices[0], (int)convex_bound_vertices.size(), bv);
00069 }
00070 
00071 template<>
00072 void computeBV<AABB, Box>(const Box& s, const Transform3f& tf, AABB& bv);
00073 
00074 template<>
00075 void computeBV<AABB, Sphere>(const Sphere& s, const Transform3f& tf, AABB& bv);
00076 
00077 template<>
00078 void computeBV<AABB, Capsule>(const Capsule& s, const Transform3f& tf, AABB& bv);
00079 
00080 template<>
00081 void computeBV<AABB, Cone>(const Cone& s, const Transform3f& tf, AABB& bv);
00082 
00083 template<>
00084 void computeBV<AABB, Cylinder>(const Cylinder& s, const Transform3f& tf, AABB& bv);
00085 
00086 template<>
00087 void computeBV<AABB, Convex>(const Convex& s, const Transform3f& tf, AABB& bv);
00088 
00089 template<>
00090 void computeBV<AABB, Triangle2>(const Triangle2& s, const Transform3f& tf, AABB& bv);
00091 
00092 
00094 template<>
00095 void computeBV<AABB, Plane>(const Plane& s, const Transform3f& tf, AABB& bv);
00096 
00097 
00098 
00099 template<>
00100 void computeBV<OBB, Box>(const Box& s, const Transform3f& tf, OBB& bv);
00101 
00102 template<>
00103 void computeBV<OBB, Sphere>(const Sphere& s, const Transform3f& tf, OBB& bv);
00104 
00105 template<>
00106 void computeBV<OBB, Capsule>(const Capsule& s, const Transform3f& tf, OBB& bv);
00107 
00108 template<>
00109 void computeBV<OBB, Cone>(const Cone& s, const Transform3f& tf, OBB& bv);
00110 
00111 template<>
00112 void computeBV<OBB, Cylinder>(const Cylinder& s, const Transform3f& tf, OBB& bv);
00113 
00114 template<>
00115 void computeBV<OBB, Convex>(const Convex& s, const Transform3f& tf, OBB& bv);
00116 
00117 template<>
00118 void computeBV<OBB, Plane>(const Plane& s, const Transform3f& tf, OBB& bv);
00119 
00120 template<>
00121 void computeBV<RSS, Plane>(const Plane& s, const Transform3f& tf, RSS& bv);
00122 
00123 template<>
00124 void computeBV<OBBRSS, Plane>(const Plane& s, const Transform3f& tf, OBBRSS& bv);
00125 
00126 template<>
00127 void computeBV<kIOS, Plane>(const Plane& s, const Transform3f& tf, kIOS& bv);
00128 
00129 template<>
00130 void computeBV<KDOP<16>, Plane>(const Plane& s, const Transform3f& tf, KDOP<16>& bv);
00131 
00132 template<>
00133 void computeBV<KDOP<18>, Plane>(const Plane& s, const Transform3f& tf, KDOP<18>& bv);
00134 
00135 template<>
00136 void computeBV<KDOP<24>, Plane>(const Plane& s, const Transform3f& tf, KDOP<24>& bv);
00137 
00138 
00140 void constructBox(const AABB& bv, Box& box, Transform3f& tf);
00141 
00142 void constructBox(const OBB& bv, Box& box, Transform3f& tf);
00143 
00144 void constructBox(const OBBRSS& bv, Box& box, Transform3f& tf);
00145 
00146 void constructBox(const kIOS& bv, Box& box, Transform3f& tf);
00147 
00148 void constructBox(const RSS& bv, Box& box, Transform3f& tf);
00149 
00150 void constructBox(const KDOP<16>& bv, Box& box, Transform3f& tf);
00151 
00152 void constructBox(const KDOP<18>& bv, Box& box, Transform3f& tf);
00153 
00154 void constructBox(const KDOP<24>& bv, Box& box, Transform3f& tf);
00155 
00156 void constructBox(const AABB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00157 
00158 void constructBox(const OBB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00159 
00160 void constructBox(const OBBRSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00161 
00162 void constructBox(const kIOS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00163 
00164 void constructBox(const RSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00165 
00166 void constructBox(const KDOP<16>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00167 
00168 void constructBox(const KDOP<18>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00169 
00170 void constructBox(const KDOP<24>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
00171 
00172 
00173 }
00174 
00175 #endif