convex.h

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#ifndef FCL_SHAPE_CONVEX_H
#define FCL_SHAPE_CONVEX_H

#include "fcl/geometry/shape/shape_base.h"

namespace fcl
{

template <typename S_>
class Convex : public ShapeBase<S_>
{
public:

  using S = S_;

  Convex(Vector3<S>* plane_normals,
         S* plane_dis,
         int num_planes,
         Vector3<S>* points,
         int num_points,
         int* polygons);

  Convex(const Convex& other);

  ~Convex();

  void computeLocalAABB() override;

  NODE_TYPE getNodeType() const override;

  
  Vector3<S>* plane_normals;
  S* plane_dis;

  int* polygons;

  Vector3<S>* points;
  int num_points;
  int num_edges;
  int num_planes;

  struct Edge
  {
    int first, second;
  };

  Edge* edges;

  Vector3<S> center;

  Matrix3<S> computeMomentofInertia() const override;

  // Documentation inherited
  Vector3<S> computeCOM() const override;

  // Documentation inherited
  S computeVolume() const override;

  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;

protected:

  void fillEdges();
};

using Convexf = Convex<float>;
using Convexd = Convex<double>;

} // namespace fcl

#include "fcl/geometry/shape/convex-inl.h"

#endif