convex.h

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#ifndef HPP_FCL_SHAPE_CONVEX_H
#define HPP_FCL_SHAPE_CONVEX_H
 
#include "hpp/fcl/shape/geometric_shapes.h"
 
namespace hpp {
namespace fcl {
 
template <typename PolygonT>
class Convex : public ConvexBase {
 public:
  Convex() : ConvexBase(), num_polygons(0) {}
 
  Convex(std::shared_ptr<std::vector<Vec3f>> points_, unsigned int num_points_,
         std::shared_ptr<std::vector<PolygonT>> polygons_,
         unsigned int num_polygons_);
 
  Convex(const Convex& other);
 
  ~Convex();
 
  Matrix3f computeMomentofInertia() const;
 
  Vec3f computeCOM() const;
 
  FCL_REAL computeVolume() const;
 
  void set(std::shared_ptr<std::vector<Vec3f>> points, unsigned int num_points,
           std::shared_ptr<std::vector<PolygonT>> polygons,
           unsigned int num_polygons);
 
  virtual Convex<PolygonT>* clone() const;
 
  std::shared_ptr<std::vector<PolygonT>> polygons;
  unsigned int num_polygons;
 
 protected:
  void fillNeighbors();
};
 
}  // namespace fcl
 
}  // namespace hpp
 
#include "hpp/fcl/shape/details/convex.hxx"
 
#endif