msh3AlgPDTreeCPMesh.h

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#ifndef _msh3AlgPDTreeCPMesh_h
#define _msh3AlgPDTreeCPMesh_h
 
#include <cisstMesh/msh3AlgPDTreeCP.h>
#include <cisstMesh/msh3PDTreeMesh.h>
#include <cisstMesh/TriangleClosestPointSolver.h>
 
// Always include last!
#include <cisstMesh/mshExport.h>
 
class CISST_EXPORT msh3AlgPDTreeCPMesh : public msh3AlgPDTreeCP
{
    //
    // Implements closest point search algorithms for a mesh shape
    //  (i.e. triangle datum type)
    //
 
    //--- Algorithm Parameters ---//
 
 protected:
 
    msh3PDTreeMesh *pTree;
    TriangleClosestPointSolver TCPS;
 
    //--- Algorithm Methods ---//
 
 public:
 
    // constructor
    msh3AlgPDTreeCPMesh(msh3PDTreeMesh *pTree) :
        msh3AlgPDTreeCP(pTree),
        pTree(pTree),
        TCPS(*(pTree->Mesh))
            {}
 
    // destructor
    virtual ~msh3AlgPDTreeCPMesh() override {}
 
 
    //--- PD Tree Interface Methods ---//
 
    double FindClosestPointOnDatum(const vct3 &v,
                                   vct3 &closest,
                                   int datum) override;
 
    double FindClosestPointOnDatumWithEdgeDetection(const vct3 &v,
                                                    vct3 &closest,
                                                    int &cpLocation,
                                                    int datum) override;
 
    int DatumMightBeCloser(const vct3 &v,
                           int datum,
                           double ErrorBound) override;
};
 
#endif