BVH_utility.h

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#ifndef HPP_FCL_BVH_UTILITY_H
#define HPP_FCL_BVH_UTILITY_H

#include <hpp/fcl/BVH/BVH_model.h>


namespace hpp
{
namespace fcl
{
template<typename BV>
BVHModel<BV>* BVHExtract(const BVHModel<BV>& model, const Transform3f& pose, const AABB& aabb);

void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Matrix3f& M);

void getRadiusAndOriginAndRectangleSize(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, const Matrix3f& axes, Vec3f& origin, FCL_REAL l[2], FCL_REAL& r);

void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Matrix3f& axes, Vec3f& center, Vec3f& extent);

void circumCircleComputation(const Vec3f& a, const Vec3f& b, const Vec3f& c, Vec3f& center, FCL_REAL& radius);

FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, const Vec3f& query);

}

} // namespace hpp

#endif