CollisionPointCloud.h

#ifndef COLLISION_POINT_CLOUD_H
#define COLLISION_POINT_CLOUD_H

#include <KrisLibrary/meshing/PointCloud.h>
#include <KrisLibrary/math3d/geometry3d.h>
#include <memory>
#include <limits>
#include "GridSubdivision.h"
#include "Octree.h"

namespace Geometry {

  using namespace Math3D;

class CollisionPointCloud : public Meshing::PointCloud3D
{
 public:
  CollisionPointCloud();
  explicit CollisionPointCloud(const Meshing::PointCloud3D& pc);
  CollisionPointCloud(const CollisionPointCloud& pc);
  void InitCollisions();

  AABB3D bblocal;
  RigidTransform currentTransform;
  Real gridResolution; 
  GridSubdivision3D grid;
  shared_ptr<OctreePointSet> octree;

  int radiusIndex;   
  Real maxRadius;    
};

void GetBB(const CollisionPointCloud& pc,Box3D& b);

bool WithinDistance(const CollisionPointCloud& pc,const GeometricPrimitive3D& g,Real tol);
Real Distance(const CollisionPointCloud& pc,const Vector3& pt);
Real Distance(const CollisionPointCloud& pc,const Vector3& pt,int& closestPoint,Real upperBound);
Real Distance(const CollisionPointCloud& pc,const GeometricPrimitive3D& g);
Real Distance(const CollisionPointCloud& pc,const GeometricPrimitive3D& g,int& closestPoint,Real upperBound=Inf);
Real Distance(const CollisionPointCloud& pc1,const CollisionPointCloud& pc2,int& closestPoint1,int& closestPoint2,Real upperBound=Inf);
void NearbyPoints(const CollisionPointCloud& pc,const GeometricPrimitive3D& g,Real tol,std::vector<int>& points,size_t maxContacts=std::numeric_limits<size_t>::max());

bool Collides(const CollisionPointCloud& pc1,const CollisionPointCloud& pc2,Real margin,std::vector<int>& points1,std::vector<int>& points2,size_t maxContacts=1);

int RayCast(const CollisionPointCloud& pc,Real rad,const Ray3D& r,Vector3& pt);

int RayCastLocal(const CollisionPointCloud& pc,Real rad,const Ray3D& r,Vector3& pt);

} //namespace Geometry

#endif