collider.h

#pragma once
 
#include <Eigen/Dense>
 
#include "solid_3d_object.h"
#include "MT_Quaternion.h"
 
namespace bmpf {
    class Collider {
    public:
        virtual void init(std::vector<std::vector<std::string>> groupedModelPaths, bool subColliders) = 0;
 
        virtual void paint(std::vector<Eigen::Matrix4d> matrices, bool onlyRobot) = 0;
 
        virtual bool isCollided(std::vector<Eigen::Matrix4d> matrices) = 0;
 
        virtual bool isCollided(std::vector<Eigen::Matrix4d> matrices, std::vector<int> robotIndexes) = 0;
 
        virtual std::vector<float> getPoints(std::vector<Eigen::Matrix4d> matrices) = 0;
 
        virtual std::vector<double> getBoxCoords(unsigned long robotNum, std::vector<Eigen::Matrix4d> matrices) = 0;
 
        virtual std::vector<double> getBoxPoints(unsigned long robotNum, std::vector<Eigen::Matrix4d> matrices) = 0;
 
 
    };
 
 
}