FCL  0.6.0
Flexible Collision Library
triangle_p.h
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35 
38 #ifndef FCL_SHAPE_TRIANGLE_P_H
39 #define FCL_SHAPE_TRIANGLE_P_H
40 
41 #include "fcl/geometry/shape/shape_base.h"
42 
43 namespace fcl
44 {
45 
47 template <typename S_>
48 class TriangleP : public ShapeBase<S_>
49 {
50 public:
51 
52  using S = S_;
53 
54  TriangleP(const Vector3<S>& a,
55  const Vector3<S>& b,
56  const Vector3<S>& c);
57 
59  void computeLocalAABB() override;
60 
61  // Documentation inherited
62  NODE_TYPE getNodeType() const override;
63 
64  Vector3<S> a;
65  Vector3<S> b;
66  Vector3<S> c;
67 
70  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
71 };
72 
75 
76 } // namespace fcl
77 
78 #include "fcl/geometry/shape/triangle_p-inl.h"
79 
80 #endif
Triangle stores the points instead of only indices of points.
Definition: triangle_p.h:48
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, halfspace, triangle), and octree
Definition: collision_geometry.h:54
NODE_TYPE getNodeType() const override
get the node type
Definition: triangle_p-inl.h:73
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Base class for all basic geometric shapes.
Definition: shape_base.h:48
std::vector< Vector3< S > > getBoundVertices(const Transform3< S > &tf) const
get the vertices of some convex shape which can bound this shape in a specific configuration ...
Definition: triangle_p-inl.h:80
void computeLocalAABB() override
virtual function of compute AABB<S> in local coordinate
Definition: triangle_p-inl.h:63