vhacdRaycastMesh.h

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#pragma once
 
#include <stdint.h>
 
namespace tesseract_collision
{
namespace VHACD
{
// Very simple brute force raycast against a triangle mesh.  Tests every triangle; no hierachy.
// Does a deep copy, always does calculations with full double float precision
class RaycastMesh
{
public:
  static RaycastMesh* createRaycastMesh(uint32_t vcount,         // The number of vertices in the source triangle mesh
                                        const double* vertices,  // The array of vertex positions in the format
                                                                 // x1,y1,z1..x2,y2,z2.. etc.
                                        uint32_t tcount,         // The number of triangles in the source triangle mesh
                                        const uint32_t* indices);  // The triangle indices in the format of i1,i2,i3 ...
                                                                   // i4,i5,i6, ...
 
  static RaycastMesh* createRaycastMesh(uint32_t vcount,        // The number of vertices in the source triangle mesh
                                        const float* vertices,  // The array of vertex positions in the format
                                                                // x1,y1,z1..x2,y2,z2.. etc.
                                        uint32_t tcount,        // The number of triangles in the source triangle mesh
                                        const uint32_t* indices);  // The triangle indices in the format of i1,i2,i3 ...
                                                                   // i4,i5,i6, ...
 
  virtual bool raycast(const double* from,            // The starting point of the raycast
                       const double* to,              // The ending point of the raycast
                       const double* closestToPoint,  // The point to match the nearest hit location (can just be the
                                                      // 'from' location of no specific point)
                       double* hitLocation,  // The point where the ray hit nearest to the 'closestToPoint' location
                       double* hitDistance) = 0;  // The distance the ray traveled to the hit location
 
  virtual void release(void) = 0;
 
protected:
  virtual ~RaycastMesh(void) = default;
};
 
}  // namespace VHACD
}  // namespace tesseract_collision