convex.h

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#ifndef COAL_SHAPE_CONVEX_H
#define COAL_SHAPE_CONVEX_H
 
#include "coal/shape/geometric_shapes.h"
#include <iostream>
 
namespace coal {
 
template <typename PolygonT>
class ConvexTpl : public ConvexBaseTpl<typename PolygonT::IndexType> {
 public:
  typedef typename PolygonT::IndexType IndexType;
  typedef ConvexBaseTpl<IndexType> Base;
  typedef typename Base::Neighbors Neighbors;
 
  using Base::neighbors;
  using Base::num_points;
  using Base::points;
 
  ConvexTpl() : Base(), num_polygons(0) {}
 
  ~ConvexTpl() {}
 
  ConvexTpl(std::shared_ptr<std::vector<Vec3s>> points_,
            unsigned int num_points_,
            std::shared_ptr<std::vector<PolygonT>> polygons_,
            unsigned int num_polygons_);
 
  Base &base() { return static_cast<Base &>(*this); }
 
  const Base &base() const { return static_cast<const Base &>(*this); }
 
  ConvexTpl(const ConvexTpl &other) { *this = other; }
 
  ConvexTpl &operator=(const ConvexTpl &other);
 
  // Clone (deep copy).
  COAL_DEPRECATED_MESSAGE(Use deepcopy instead.)
  ConvexTpl *clone() const override { return this->deepcopy(); };
 
  // Deep copy of a Convex.
  // This method deep copies every field of the class.
  ConvexTpl *deepcopy() const override {
    ConvexTpl *copy = new ConvexTpl();
    deepcopy(this, copy);
    return copy;
  }
 
  template <typename OtherPolygonT>
  ConvexTpl<OtherPolygonT> cast() const {
    ConvexTpl<OtherPolygonT> res;
    deepcopy(this, &res);
    return res;
  }
 
  virtual Matrix3s computeMomentofInertia() const override;
 
  virtual Vec3s computeCOM() const override;
 
  virtual Scalar computeVolume() const override;
 
  void set(std::shared_ptr<std::vector<Vec3s>> points, unsigned int num_points,
           std::shared_ptr<std::vector<PolygonT>> polygons,
           unsigned int num_polygons);
 
  std::shared_ptr<std::vector<PolygonT>> polygons;
  unsigned int num_polygons;
 
 protected:
  void fillNeighbors();
 
  // Deep copy of a Convex.
  // This method deep copies every field of the class.
  template <typename OtherPolygonT>
  static void deepcopy(const ConvexTpl<PolygonT> *source,
                       ConvexTpl<OtherPolygonT> *copy);
 
  using Base::nneighbors_;
};
 
typedef ConvexTpl<Triangle16> Convex16;
typedef ConvexTpl<Triangle32> Convex32;
 
}  // namespace coal
 
#include "coal/shape/convex.hxx"
 
#endif