LoadCoalGeometries.h

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#pragma once
 
#include "../utils/Utils.h"
 
#include <coal/fwd.hh>
 
namespace coal {
template <typename BV> class HeightField;
class OBBRSS;
class ShapeBase;
class ConvexBase;
} // namespace coal
 
namespace candlewick {
 
template <typename T>
decltype(auto) castCoalGeom(const coal::CollisionGeometry &geometry) {
#ifndef DEBUG
  return static_cast<const T &>(geometry);
#else
  return dynamic_cast<const T &>(geometry);
#endif
}

MeshData loadCoalPrimitive(const coal::ShapeBase &geometry);
 
MeshData loadCoalConvex(const coal::ConvexBase &geom);
 
MeshData loadCoalHeightField(const coal::HeightField<coal::AABB> &collGeom);
 
MeshData loadCoalHeightField(const coal::HeightField<coal::OBBRSS> &collGeom);
 
} // namespace candlewick