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/** @author Jia Pan */

#ifndef FCL_BVH_UTILITY_H
#define FCL_BVH_UTILITY_H

#include "fcl/math/variance3.h"
#include "fcl/geometry/bvh/BVH_model.h"

namespace fcl
{

/// @brief Expand the BVH bounding boxes according to the variance matrix
/// corresponding to the data stored within each BV node
template <typename S, typename BV>
FCL_EXPORT
void BVHExpand(BVHModel<BV>& model, const Variance3<S>* ucs, S r);

/// @brief Expand the BVH bounding boxes according to the corresponding variance
/// information, for OBB
template <typename S>
FCL_EXPORT
void BVHExpand(
    BVHModel<OBB<S>>& model, const Variance3<S>* ucs, S r = 1.0);

/// @brief Expand the BVH bounding boxes according to the corresponding variance
/// information, for RSS
template <typename S>
FCL_EXPORT
void BVHExpand(
    BVHModel<RSS<S>>& model, const Variance3<S>* ucs, S r = 1.0);

} // namespace fcl

#include "fcl/geometry/bvh/BVH_utility-inl.h"

#endif
