geometric_shapes_utility.h

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#ifndef COAL_GEOMETRIC_SHAPES_UTILITY_H
#define COAL_GEOMETRIC_SHAPES_UTILITY_H

#include <vector>
#include "coal/shape/geometric_shapes.h"
#include "coal/BV/BV.h"
#include "coal/internal/BV_fitter.h"

namespace coal {

namespace details {
COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Box& box,
 const Transform3s& tf);
COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Sphere& sphere,
 const Transform3s& tf);
COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Ellipsoid& ellipsoid,
 const Transform3s& tf);
COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Capsule& capsule,
 const Transform3s& tf);
COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Cone& cone,
 const Transform3s& tf);
COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Cylinder& cylinder,
 const Transform3s& tf);
COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const ConvexBase& convex,
 const Transform3s& tf);
COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const TriangleP& triangle,
 const Transform3s& tf);
} // namespace details

template <typename BV, typename S>
inline void computeBV(const S& s, const Transform3s& tf, BV& bv) {
 if (s.getSweptSphereRadius() > 0) {
 COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
 std::runtime_error);
 }
 std::vector<Vec3s> convex_bound_vertices = details::getBoundVertices(s, tf);
 fit(&convex_bound_vertices[0], (unsigned int)convex_bound_vertices.size(),
 bv);
}

template <>
COAL_DLLAPI void computeBV<AABB, Box>(const Box& s, const Transform3s& tf,
 AABB& bv);

template <>
COAL_DLLAPI void computeBV<AABB, Sphere>(const Sphere& s, const Transform3s& tf,
 AABB& bv);

template <>
COAL_DLLAPI void computeBV<AABB, Ellipsoid>(const Ellipsoid& e,
 const Transform3s& tf, AABB& bv);

template <>
COAL_DLLAPI void computeBV<AABB, Capsule>(const Capsule& s,
 const Transform3s& tf, AABB& bv);

template <>
COAL_DLLAPI void computeBV<AABB, Cone>(const Cone& s, const Transform3s& tf,
 AABB& bv);

template <>
COAL_DLLAPI void computeBV<AABB, Cylinder>(const Cylinder& s,
 const Transform3s& tf, AABB& bv);

template <>
COAL_DLLAPI void computeBV<AABB, ConvexBase>(const ConvexBase& s,
 const Transform3s& tf, AABB& bv);

template <>
COAL_DLLAPI void computeBV<AABB, TriangleP>(const TriangleP& s,
 const Transform3s& tf, AABB& bv);

template <>
COAL_DLLAPI void computeBV<AABB, Halfspace>(const Halfspace& s,
 const Transform3s& tf, AABB& bv);

template <>
COAL_DLLAPI void computeBV<AABB, Plane>(const Plane& s, const Transform3s& tf,
 AABB& bv);

template <>
COAL_DLLAPI void computeBV<OBB, Box>(const Box& s, const Transform3s& tf,
 OBB& bv);

template <>
COAL_DLLAPI void computeBV<OBB, Sphere>(const Sphere& s, const Transform3s& tf,
 OBB& bv);

template <>
COAL_DLLAPI void computeBV<OBB, Capsule>(const Capsule& s,
 const Transform3s& tf, OBB& bv);

template <>
COAL_DLLAPI void computeBV<OBB, Cone>(const Cone& s, const Transform3s& tf,
 OBB& bv);

template <>
COAL_DLLAPI void computeBV<OBB, Cylinder>(const Cylinder& s,
 const Transform3s& tf, OBB& bv);

template <>
COAL_DLLAPI void computeBV<OBB, ConvexBase>(const ConvexBase& s,
 const Transform3s& tf, OBB& bv);

template <>
COAL_DLLAPI void computeBV<OBB, Halfspace>(const Halfspace& s,
 const Transform3s& tf, OBB& bv);

template <>
COAL_DLLAPI void computeBV<RSS, Halfspace>(const Halfspace& s,
 const Transform3s& tf, RSS& bv);

template <>
COAL_DLLAPI void computeBV<OBBRSS, Halfspace>(const Halfspace& s,
 const Transform3s& tf,
 OBBRSS& bv);

template <>
COAL_DLLAPI void computeBV<kIOS, Halfspace>(const Halfspace& s,
 const Transform3s& tf, kIOS& bv);

template <>
COAL_DLLAPI void computeBV<KDOP<16>, Halfspace>(const Halfspace& s,
 const Transform3s& tf,
 KDOP<16>& bv);

template <>
COAL_DLLAPI void computeBV<KDOP<18>, Halfspace>(const Halfspace& s,
 const Transform3s& tf,
 KDOP<18>& bv);

template <>
COAL_DLLAPI void computeBV<KDOP<24>, Halfspace>(const Halfspace& s,
 const Transform3s& tf,
 KDOP<24>& bv);

template <>
COAL_DLLAPI void computeBV<OBB, Plane>(const Plane& s, const Transform3s& tf,
 OBB& bv);

template <>
COAL_DLLAPI void computeBV<RSS, Plane>(const Plane& s, const Transform3s& tf,
 RSS& bv);

template <>
COAL_DLLAPI void computeBV<OBBRSS, Plane>(const Plane& s, const Transform3s& tf,
 OBBRSS& bv);

template <>
COAL_DLLAPI void computeBV<kIOS, Plane>(const Plane& s, const Transform3s& tf,
 kIOS& bv);

template <>
COAL_DLLAPI void computeBV<KDOP<16>, Plane>(const Plane& s,
 const Transform3s& tf,
 KDOP<16>& bv);

template <>
COAL_DLLAPI void computeBV<KDOP<18>, Plane>(const Plane& s,
 const Transform3s& tf,
 KDOP<18>& bv);

template <>
COAL_DLLAPI void computeBV<KDOP<24>, Plane>(const Plane& s,
 const Transform3s& tf,
 KDOP<24>& bv);

COAL_DLLAPI void constructBox(const AABB& bv, Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const OBB& bv, Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const OBBRSS& bv, Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const kIOS& bv, Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const RSS& bv, Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const KDOP<16>& bv, Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const KDOP<18>& bv, Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const KDOP<24>& bv, Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const AABB& bv, const Transform3s& tf_bv,
 Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const OBB& bv, const Transform3s& tf_bv, Box& box,
 Transform3s& tf);

COAL_DLLAPI void constructBox(const OBBRSS& bv, const Transform3s& tf_bv,
 Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const kIOS& bv, const Transform3s& tf_bv,
 Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const RSS& bv, const Transform3s& tf_bv, Box& box,
 Transform3s& tf);

COAL_DLLAPI void constructBox(const KDOP<16>& bv, const Transform3s& tf_bv,
 Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const KDOP<18>& bv, const Transform3s& tf_bv,
 Box& box, Transform3s& tf);

COAL_DLLAPI void constructBox(const KDOP<24>& bv, const Transform3s& tf_bv,
 Box& box, Transform3s& tf);

COAL_DLLAPI Halfspace transform(const Halfspace& a, const Transform3s& tf);

COAL_DLLAPI Plane transform(const Plane& a, const Transform3s& tf);

COAL_DLLAPI std::array<Halfspace, 2> transformToHalfspaces(
 const Plane& a, const Transform3s& tf);

} // namespace coal

#endif