4b665fa82b
URDF import demo: add COLLADA .dae file support add FiniteElementMethod demo, extracted from the OpenTissue library (under the zlib license) don't crash if loading an invalid STL file add comparison with Assimp for COLLADA file loading (disabled by default, to avoid library dependency) Gwen: disable some flags that make the build incompatible
69 lines
2.1 KiB
C++
69 lines
2.1 KiB
C++
#ifndef OPENTISSUE_COLLISION_COLLISION_GEOMETRY_INTERFACE_H
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#define OPENTISSUE_COLLISION_COLLISION_GEOMETRY_INTERFACE_H
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//
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// OpenTissue Template Library
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// - A generic toolbox for physics-based modeling and simulation.
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// Copyright (C) 2008 Department of Computer Science, University of Copenhagen.
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//
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// OTTL is licensed under zlib: http://opensource.org/licenses/zlib-license.php
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//
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#include <OpenTissue/configuration.h>
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#include <OpenTissue/utility/utility_class_id.h>
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namespace OpenTissue
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{
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namespace collision
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{
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/**
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* Collision Geometry Interface.
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* The purpose of this class is to create a common interface for
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* collision geometries.
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*
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* The interface should make it easier to integrate geometry types into
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* a collision detection engine. In particular it should help make multiple
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* dispatching easier (the class_id interface) and it should support basic
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* functionality for computing bounding boxes (compute_collision_aabb method)
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*
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*
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*/
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template< typename math_types >
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class GeometryInterface
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: virtual public OpenTissue::utility::ClassIDInterface
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{
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public:
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typedef typename math_types::vector3_type vector3_type;
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typedef typename math_types::matrix3x3_type matrix3x3_type;
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public:
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/**
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* Compute Bounding Box.
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* This method computes an axis aligned bounding
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* box (AABB) that encloses the geometry.
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*
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* @param r The position of the model frame (i.e the coordinate frame the geometry lives in).
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* @param R The orientation of the model frame (i.e the coordinate frame the geometry lives in).
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* @param min_coord Upon return holds the minimum corner of the box.
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* @param max_coord Upon return holds the maximum corner of the box.
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*
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*/
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virtual void compute_collision_aabb(
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vector3_type const & r
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, matrix3x3_type const & R
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, vector3_type & min_coord
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, vector3_type & max_coord
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) const = 0;
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};
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} // namespace collision
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} // namespace OpenTissue
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// OPENTISSUE_COLLISION_COLLISION_GEOMETRY_INTERFACE_H
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#endif
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