Program Listing for File convex.h

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#ifndef COAL_SHAPE_CONVEX_H
#define COAL_SHAPE_CONVEX_H

#include "coal/shape/geometric_shapes.h"
#include <iostream>

namespace coal {

template <typename PolygonT>
class ConvexTpl : public ConvexBaseTpl<typename PolygonT::IndexType> {
 public:
  typedef typename PolygonT::IndexType IndexType;
  typedef ConvexBaseTpl<IndexType> Base;
  typedef typename Base::Neighbors Neighbors;

  using Base::neighbors;
  using Base::num_points;
  using Base::points;

  ConvexTpl() : Base(), num_polygons(0) {}

  ~ConvexTpl() {}

  ConvexTpl(std::shared_ptr<std::vector<Vec3s>> points_,
            unsigned int num_points_,
            std::shared_ptr<std::vector<PolygonT>> polygons_,
            unsigned int num_polygons_);

  Base &base() { return static_cast<Base &>(*this); }

  const Base &base() const { return static_cast<const Base &>(*this); }

  ConvexTpl(const ConvexTpl &other) { *this = other; }

  ConvexTpl &operator=(const ConvexTpl &other);

  // Clone (deep copy).
  COAL_DEPRECATED_MESSAGE(Use deepcopy instead.)
  ConvexTpl *clone() const override { return this->deepcopy(); };

  // Deep copy of a Convex.
  // This method deep copies every field of the class.
  ConvexTpl *deepcopy() const override {
    ConvexTpl *copy = new ConvexTpl();
    deepcopy(this, copy);
    return copy;
  }

  template <typename OtherPolygonT>
  ConvexTpl<OtherPolygonT> cast() const {
    ConvexTpl<OtherPolygonT> res;
    deepcopy(this, &res);
    return res;
  }

  virtual Matrix3s computeMomentofInertia() const override;

  virtual Vec3s computeCOM() const override;

  virtual Scalar computeVolume() const override;

  void set(std::shared_ptr<std::vector<Vec3s>> points, unsigned int num_points,
           std::shared_ptr<std::vector<PolygonT>> polygons,
           unsigned int num_polygons);

  std::shared_ptr<std::vector<PolygonT>> polygons;
  unsigned int num_polygons;

 protected:
  void fillNeighbors();

  // Deep copy of a Convex.
  // This method deep copies every field of the class.
  template <typename OtherPolygonT>
  static void deepcopy(const ConvexTpl<PolygonT> *source,
                       ConvexTpl<OtherPolygonT> *copy);

  using Base::nneighbors_;
};

typedef ConvexTpl<Triangle16> Convex16;
typedef ConvexTpl<Triangle32> Convex32;

}  // namespace coal

#include "coal/shape/convex.hxx"

#endif