FCL  0.6.0
Flexible Collision Library
BV_node-inl.h
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35 
38 #ifndef FCL_BV_BVNODE_INL_H
39 #define FCL_BV_BVNODE_INL_H
40 
41 #include "fcl/geometry/bvh/BV_node.h"
42 
43 namespace fcl
44 {
45 
46 //==============================================================================
47 template <typename BV>
48 bool BVNode<BV>::overlap(const BVNode& other) const
49 {
50  return bv.overlap(other.bv);
51 }
52 
53 //==============================================================================
54 template <typename BV>
55 typename BVNode<BV>::S BVNode<BV>::distance(
56  const BVNode& other, Vector3<S>* P1, Vector3<S>* P2) const
57 {
58  return bv.distance(other.bv, P1, P2);
59 }
60 
61 //==============================================================================
62 template <typename BV>
63 Vector3<typename BVNode<BV>::S> BVNode<BV>::getCenter() const
64 {
65  return bv.center();
66 }
67 
68 //==============================================================================
69 template <typename S, typename BV>
71 {
72  static Matrix3<S> run(const BVNode<BV>& /*node*/)
73  {
74  return Matrix3<S>::Identity();
75  }
76 };
77 
78 //==============================================================================
79 template <typename BV>
80 Matrix3<typename BV::S> BVNode<BV>::getOrientation() const
81 {
83 }
84 
85 //==============================================================================
86 template <typename S>
87 struct GetOrientationImpl<S, OBB<S>>
88 {
89  static Matrix3<S> run(const OBB<S>& bv)
90  {
91  return bv.axis;
92  }
93 };
94 
95 //==============================================================================
96 template <typename S>
97 struct GetOrientationImpl<S, RSS<S>>
98 {
99  static Matrix3<S> run(const RSS<S>& bv)
100  {
101  return bv.axis;
102  }
103 };
104 
105 //==============================================================================
106 template <typename S>
108 {
109  static Matrix3<S> run(const OBBRSS<S>& bv)
110  {
111  return bv.obb.axis;
112  }
113 };
114 
115 } // namespace fcl
116 
117 #endif
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Matrix3< S > axis
Orientation of RSS. The axes of the rotation matrix are the principle directions of the box...
Definition: RSS.h:60
A class for rectangle sphere-swept bounding volume.
Definition: RSS.h:49
bool overlap(const BVNode &other) const
Check whether two BVNode collide.
Definition: BV_node-inl.h:48
Definition: BV_node-inl.h:70
S distance(const BVNode &other, Vector3< S > *P1=nullptr, Vector3< S > *P2=nullptr) const
Compute the distance between two BVNode. P1 and P2, if not nullptr and the underlying BV supports dis...
Definition: BV_node-inl.h:55
OBB< S > obb
OBB member, for rotation.
Definition: OBBRSS.h:57
BV bv
bounding volume storing the geometry
Definition: BV_node.h:57
Matrix3< S > axis
Orientation of OBB. The axes of the rotation matrix are the principle directions of the box...
Definition: OBB.h:62
A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and...
Definition: BV_node.h:52
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: OBBRSS.h:50
Oriented bounding box class.
Definition: OBB.h:51
Vector3< S > getCenter() const
Access the center of the BV.
Definition: BV_node-inl.h:63
Matrix3< S > getOrientation() const
Access the orientation of the BV.
Definition: BV_node-inl.h:80