39 #ifndef HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H
40 #define HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H
56 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(
const Box& box,
const Transform3f& tf);
57 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(
const Sphere& sphere,
const Transform3f& tf);
58 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(
const Capsule& capsule,
const Transform3f& tf);
59 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(
const Cone& cone,
const Transform3f& tf);
60 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(
const Cylinder& cylinder,
const Transform3f& tf);
61 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(
const ConvexBase& convex,
const Transform3f& tf);
62 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(
const TriangleP& triangle,
const Transform3f& tf);
68 template<
typename BV,
typename S>
71 std::vector<Vec3f> convex_bound_vertices = details::getBoundVertices(s, tf);
72 fit(&convex_bound_vertices[0], (
int)convex_bound_vertices.size(), bv);
135 HPP_FCL_DLLAPI void computeBV<KDOP<16>, Halfspace>(
const Halfspace& s,
const Transform3f& tf, KDOP<16>& bv);
138 HPP_FCL_DLLAPI void computeBV<KDOP<18>, Halfspace>(
const Halfspace& s,
const Transform3f& tf, KDOP<18>& bv);
141 HPP_FCL_DLLAPI void computeBV<KDOP<24>, Halfspace>(
const Halfspace& s,
const Transform3f& tf, KDOP<24>& bv);
156 HPP_FCL_DLLAPI void computeBV<KDOP<16>, Plane>(
const Plane& s,
const Transform3f& tf, KDOP<16>& bv);
159 HPP_FCL_DLLAPI void computeBV<KDOP<18>, Plane>(
const Plane& s,
const Transform3f& tf, KDOP<18>& bv);
162 HPP_FCL_DLLAPI void computeBV<KDOP<24>, Plane>(
const Plane& s,
const Transform3f& tf, KDOP<24>& bv);