BVH_utility.h

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#ifndef COAL_BVH_UTILITY_H
#define COAL_BVH_UTILITY_H

#include "coal/BVH/BVH_model.h"

namespace coal {
template <typename BV>
COAL_DLLAPI BVHModel<BV>* BVHExtract(const BVHModel<BV>& model,
 const Transform3s& pose, const AABB& aabb);

template <>
COAL_DLLAPI BVHModel<OBB>* BVHExtract(const BVHModel<OBB>& model,
 const Transform3s& pose,
 const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<AABB>* BVHExtract(const BVHModel<AABB>& model,
 const Transform3s& pose,
 const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<RSS>* BVHExtract(const BVHModel<RSS>& model,
 const Transform3s& pose,
 const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<kIOS>* BVHExtract(const BVHModel<kIOS>& model,
 const Transform3s& pose,
 const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<OBBRSS>* BVHExtract(const BVHModel<OBBRSS>& model,
 const Transform3s& pose,
 const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<KDOP<16> >* BVHExtract(const BVHModel<KDOP<16> >& model,
 const Transform3s& pose,
 const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<KDOP<18> >* BVHExtract(const BVHModel<KDOP<18> >& model,
 const Transform3s& pose,
 const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<KDOP<24> >* BVHExtract(const BVHModel<KDOP<24> >& model,
 const Transform3s& pose,
 const AABB& aabb);

COAL_DLLAPI void getCovariance(Vec3s* ps, Vec3s* ps2, Triangle* ts,
 unsigned int* indices, unsigned int n,
 Matrix3s& M);

COAL_DLLAPI void getRadiusAndOriginAndRectangleSize(
 Vec3s* ps, Vec3s* ps2, Triangle* ts, unsigned int* indices, unsigned int n,
 const Matrix3s& axes, Vec3s& origin, CoalScalar l[2], CoalScalar& r);

COAL_DLLAPI void getExtentAndCenter(Vec3s* ps, Vec3s* ps2, Triangle* ts,
 unsigned int* indices, unsigned int n,
 Matrix3s& axes, Vec3s& center,
 Vec3s& extent);

COAL_DLLAPI void circumCircleComputation(const Vec3s& a, const Vec3s& b,
 const Vec3s& c, Vec3s& center,
 CoalScalar& radius);

COAL_DLLAPI CoalScalar maximumDistance(Vec3s* ps, Vec3s* ps2, Triangle* ts,
 unsigned int* indices, unsigned int n,
 const Vec3s& query);

} // namespace coal

#endif