1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2016, Open Source Robotics Foundation
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7 *
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13 * notice, this list of conditions and the following disclaimer.
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34 */
35
36 /** @author Jia Pan */
37
38 #ifndef FCL_SHAPE_TRIANGLE_P_INL_H
39 #define FCL_SHAPE_TRIANGLE_P_INL_H
40
41 #include "fcl/geometry/shape/triangle_p.h"
42
43 namespace fcl
44 {
45
46 //==============================================================================
47 extern template
48 class FCL_EXPORT TriangleP<double>;
49
50 //==============================================================================
51 template <typename S>
TriangleP(const Vector3<S> & a,const Vector3<S> & b,const Vector3<S> & c)52 TriangleP<S>::TriangleP(
53 const Vector3<S>& a,
54 const Vector3<S>& b,
55 const Vector3<S>& c)
56 : ShapeBase<S>(), a(a), b(b), c(c)
57 {
58 // Do nothing
59 }
60
61 //==============================================================================
62 template <typename S>
computeLocalAABB()63 void TriangleP<S>::computeLocalAABB()
64 {
65 this->aabb_local = AABB<S>(a, b, c);
66
67 this->aabb_center = this->aabb_local.center();
68 this->aabb_radius = (this->aabb_local.min_ - this->aabb_center).norm();
69 }
70
71 //==============================================================================
72 template <typename S>
getNodeType()73 NODE_TYPE TriangleP<S>::getNodeType() const
74 {
75 return GEOM_TRIANGLE;
76 }
77
78 //==============================================================================
79 template <typename S>
getBoundVertices(const Transform3<S> & tf)80 std::vector<Vector3<S>> TriangleP<S>::getBoundVertices(
81 const Transform3<S>& tf) const
82 {
83 std::vector<Vector3<S>> result(3);
84 result[0] = tf * a;
85 result[1] = tf * b;
86 result[2] = tf * c;
87
88 return result;
89 }
90
91 } // namespace fcl
92
93 #endif
94