BVH_utility.h

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#ifndef COAL_BVH_UTILITY_H
#define COAL_BVH_UTILITY_H
 
#include "coal/BVH/BVH_model.h"
 
namespace coal {
template <typename BV>
COAL_DLLAPI BVHModel<BV>* BVHExtract(const BVHModel<BV>& model,
                                     const Transform3s& pose, const AABB& aabb);
 
template <>
COAL_DLLAPI BVHModel<OBB>* BVHExtract(const BVHModel<OBB>& model,
                                      const Transform3s& pose,
                                      const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<AABB>* BVHExtract(const BVHModel<AABB>& model,
                                       const Transform3s& pose,
                                       const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<RSS>* BVHExtract(const BVHModel<RSS>& model,
                                      const Transform3s& pose,
                                      const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<kIOS>* BVHExtract(const BVHModel<kIOS>& model,
                                       const Transform3s& pose,
                                       const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<OBBRSS>* BVHExtract(const BVHModel<OBBRSS>& model,
                                         const Transform3s& pose,
                                         const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<KDOP<16> >* BVHExtract(const BVHModel<KDOP<16> >& model,
                                            const Transform3s& pose,
                                            const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<KDOP<18> >* BVHExtract(const BVHModel<KDOP<18> >& model,
                                            const Transform3s& pose,
                                            const AABB& aabb);
template <>
COAL_DLLAPI BVHModel<KDOP<24> >* BVHExtract(const BVHModel<KDOP<24> >& model,
                                            const Transform3s& pose,
                                            const AABB& aabb);
 
COAL_DLLAPI void getCovariance(Vec3s* ps, Vec3s* ps2, Triangle* ts,
                               unsigned int* indices, unsigned int n,
                               Matrix3s& M);
 
COAL_DLLAPI void getRadiusAndOriginAndRectangleSize(
    Vec3s* ps, Vec3s* ps2, Triangle* ts, unsigned int* indices, unsigned int n,
    const Matrix3s& axes, Vec3s& origin, Scalar l[2], Scalar& r);
 
COAL_DLLAPI void getExtentAndCenter(Vec3s* ps, Vec3s* ps2, Triangle* ts,
                                    unsigned int* indices, unsigned int n,
                                    Matrix3s& axes, Vec3s& center,
                                    Vec3s& extent);
 
COAL_DLLAPI void circumCircleComputation(const Vec3s& a, const Vec3s& b,
                                         const Vec3s& c, Vec3s& center,
                                         Scalar& radius);
 
COAL_DLLAPI Scalar maximumDistance(Vec3s* ps, Vec3s* ps2, Triangle* ts,
                                   unsigned int* indices, unsigned int n,
                                   const Vec3s& query);
 
}  // namespace coal
 
#endif