117 lines
3.4 KiB
C++
117 lines
3.4 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2011, Willow Garage, Inc.
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of Willow Garage, Inc. nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*/
|
|
|
|
/** \author Jia Pan */
|
|
|
|
|
|
#ifndef FCL_GEOMETRIC_SHAPES_UTILITY_H
|
|
#define FCL_GEOMETRIC_SHAPES_UTILITY_H
|
|
|
|
#include "fcl/geometric_shapes.h"
|
|
#include "fcl/BV.h"
|
|
|
|
namespace fcl
|
|
{
|
|
template<typename BV>
|
|
void computeBV(const Box& /*s*/, BV& /*bv*/) {}
|
|
|
|
template<typename BV>
|
|
void computeBV(const Sphere& /*s*/, BV& /*bv*/) {}
|
|
|
|
template<typename BV>
|
|
void computeBV(const Capsule& /*s*/, BV& /*bv*/) {}
|
|
|
|
template<typename BV>
|
|
void computeBV(const Cone& /*s*/, BV& /*bv*/) {}
|
|
|
|
template<typename BV>
|
|
void computeBV(const Cylinder& /*s*/, BV& /*bv*/) {}
|
|
|
|
template<typename BV>
|
|
void computeBV(const Convex& /*s*/, BV& /*bv*/) {}
|
|
|
|
/** the bounding volume for half space back of plane
|
|
* for OBB, it is the plane itself
|
|
*/
|
|
template<typename BV>
|
|
void computeBV(const Plane& /*s*/, BV& /*bv*/) {}
|
|
|
|
/** For AABB */
|
|
template<>
|
|
void computeBV<AABB>(const Box& s, AABB& bv);
|
|
|
|
template<>
|
|
void computeBV<AABB>(const Sphere& s, AABB& bv);
|
|
|
|
template<>
|
|
void computeBV<AABB>(const Capsule& s, AABB& bv);
|
|
|
|
template<>
|
|
void computeBV<AABB>(const Cone& s, AABB& bv);
|
|
|
|
template<>
|
|
void computeBV<AABB>(const Cylinder& s, AABB& bv);
|
|
|
|
template<>
|
|
void computeBV<AABB>(const Convex& s, AABB& bv);
|
|
|
|
template<>
|
|
void computeBV<AABB>(const Plane& s, AABB& bv);
|
|
|
|
template<>
|
|
void computeBV<OBB>(const Box& s, OBB& bv);
|
|
|
|
template<>
|
|
void computeBV<OBB>(const Sphere& s, OBB& bv);
|
|
|
|
template<>
|
|
void computeBV<OBB>(const Capsule& s, OBB& bv);
|
|
|
|
template<>
|
|
void computeBV<OBB>(const Cone& s, OBB& bv);
|
|
|
|
template<>
|
|
void computeBV<OBB>(const Cylinder& s, OBB& bv);
|
|
|
|
template<>
|
|
void computeBV<OBB>(const Convex& s, OBB& bv);
|
|
|
|
template<>
|
|
void computeBV<OBB>(const Plane& s, OBB& bv);
|
|
|
|
// TODO: implement computeBV for RSS and KDOP
|
|
}
|
|
|
|
#endif
|