CollisionImplicitSurface.h

#ifndef COLLISION_IMPLICIT_SURFACE_H
#define COLLISION_IMPLICIT_SURFACE_H

#include <KrisLibrary/meshing/VolumeGrid.h>
#include <KrisLibrary/math3d/geometry3d.h>

namespace Geometry {

  class CollisionPointCloud;

  using namespace Math3D;

class CollisionImplicitSurface
{
 public:
  CollisionImplicitSurface();
  CollisionImplicitSurface(const Meshing::VolumeGrid& vg);
  CollisionImplicitSurface(const CollisionImplicitSurface& vg);
  void InitCollisions();

  void DistanceRangeLocal(const AABB3D& bb,Real& vmin,Real& vmax) const;

  Meshing::VolumeGrid baseGrid;
  RigidTransform currentTransform;
  std::vector<Meshing::VolumeGrid> minHierarchy,maxHierarchy;
  std::vector<Real> resolutionMap;
};


Real Distance(const CollisionImplicitSurface& s,const Vector3& pt);

Real Distance(const CollisionImplicitSurface& s,const Vector3& pt,Vector3& surfacePt,Vector3& direction);

Real Distance(const CollisionImplicitSurface& s,const GeometricPrimitive3D& geom,Vector3& surfacePt,Vector3& geomPt,Vector3& direction);

bool Collides(const CollisionImplicitSurface& s,const CollisionPointCloud& pc,Real margin,std::vector<int>& collidingPoints,size_t maxContacts=1);

Real Distance(const CollisionImplicitSurface& s,const CollisionPointCloud& pc,int& closestPoint,Real upperBound=Inf);


} //namespace Geometry

#endif