collision_geometry.h

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#ifndef FCL_COLLISION_GEOMETRY_H
#define FCL_COLLISION_GEOMETRY_H

#include <memory>

#include "fcl/common/deprecated.h"
#include "fcl/math/bv/AABB.h"
#include "fcl/math/motion/motion_base.h"

namespace fcl
{

enum OBJECT_TYPE {OT_UNKNOWN, OT_BVH, OT_GEOM, OT_OCTREE, OT_COUNT};

enum NODE_TYPE {BV_UNKNOWN, BV_AABB, BV_OBB, BV_RSS, BV_kIOS, BV_OBBRSS, BV_KDOP16, BV_KDOP18, BV_KDOP24,
                GEOM_BOX, GEOM_SPHERE, GEOM_ELLIPSOID, GEOM_CAPSULE, GEOM_CONE, GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE, GEOM_HALFSPACE, GEOM_TRIANGLE, GEOM_OCTREE, NODE_COUNT};

template <typename S>
class CollisionGeometry
{
public:
  CollisionGeometry();

  virtual ~CollisionGeometry();

  virtual OBJECT_TYPE getObjectType() const;

  virtual NODE_TYPE getNodeType() const;

  virtual void computeLocalAABB() = 0;

  void* getUserData() const;

  void setUserData(void *data);

  bool isOccupied() const;

  bool isFree() const;

  bool isUncertain() const;

  Vector3<S> aabb_center;

  S aabb_radius;

  AABB<S> aabb_local;

  void* user_data;

  S cost_density;

  S threshold_occupied;

  S threshold_free;

  virtual Vector3<S> computeCOM() const;

  virtual Matrix3<S> computeMomentofInertia() const;

  virtual S computeVolume() const;

  virtual Matrix3<S> computeMomentofInertiaRelatedToCOM() const;

};

using CollisionGeometryf = CollisionGeometry<float>;
using CollisionGeometryd = CollisionGeometry<double>;

} // namespace fcl

#include "fcl/geometry/collision_geometry-inl.h"

#endif