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// Copyright (c) 2017 CNRS |
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// Copyright (c) 2022 INRIA |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// This file is part of Coal. |
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// Coal is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// Coal is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// Coal. If not, see <http://www.gnu.org/licenses/>. |
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#ifndef COAL_COLLISION_UTILITY_H |
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#define COAL_COLLISION_UTILITY_H |
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#include "coal/collision_object.h" |
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namespace coal { |
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COAL_DLLAPI CollisionGeometry* extract(const CollisionGeometry* model, |
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const Transform3s& pose, |
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const AABB& aabb); |
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/** |
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* \brief Returns the name associated to a NODE_TYPE |
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*/ |
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inline const char* get_node_type_name(NODE_TYPE node_type) { |
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static const char* node_type_name_all[] = { |
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"BV_UNKNOWN", "BV_AABB", "BV_OBB", "BV_RSS", |
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"BV_kIOS", "BV_OBBRSS", "BV_KDOP16", "BV_KDOP18", |
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"BV_KDOP24", "GEOM_BOX", "GEOM_SPHERE", "GEOM_CAPSULE", |
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"GEOM_CONE", "GEOM_CYLINDER", "GEOM_CONVEX", "GEOM_PLANE", |
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"GEOM_HALFSPACE", "GEOM_TRIANGLE", "GEOM_OCTREE", "GEOM_ELLIPSOID", |
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"HF_AABB", "HF_OBBRSS", "NODE_COUNT"}; |
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return node_type_name_all[node_type]; |
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} |
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/** |
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* \brief Returns the name associated to a OBJECT_TYPE |
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*/ |
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inline const char* get_object_type_name(OBJECT_TYPE object_type) { |
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static const char* object_type_name_all[] = { |
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"OT_UNKNOWN", "OT_BVH", "OT_GEOM", "OT_OCTREE", "OT_HFIELD", "OT_COUNT"}; |
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return object_type_name_all[object_type]; |
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} |
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} // namespace coal |
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#endif // COAL_COLLISION_UTILITY_H |
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