BV_fitter.h

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#ifndef FCL_BV_FITTER_H
#define FCL_BV_FITTER_H

#include <iostream>
#include "fcl/math/triangle.h"
#include "fcl/math/bv/kIOS.h"
#include "fcl/math/bv/OBBRSS.h"
#include "fcl/geometry/bvh/BVH_internal.h"
#include "fcl/geometry/bvh/detail/BV_fitter_base.h"

namespace fcl
{

namespace detail
{

template <typename BV>
class BVFitter : public BVFitterBase<BV>
{
public:

  using S = typename BVFitterBase<BV>::S;

  virtual ~BVFitter();

  void set(
      Vector3<S>* vertices_, Triangle* tri_indices_, BVHModelType type_);

  void set(
      Vector3<S>* vertices_,
      Vector3<S>* prev_vertices_,
      Triangle* tri_indices_,
      BVHModelType type_);

  BV fit(unsigned int* primitive_indices, int num_primitives);

  void clear();

private:

  Vector3<S>* vertices;
  Vector3<S>* prev_vertices;
  Triangle* tri_indices;
  BVHModelType type;

  template <typename, typename>
  friend struct SetImpl;

  template <typename, typename>
  friend struct FitImpl;
};

} // namespace detail
} // namespace fcl

#include "fcl/geometry/bvh/detail/BV_fitter-inl.h"

#endif