OBB.h

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#ifndef FCL_BV_OBB_H
#define FCL_BV_OBB_H

#include <iostream>

#include "fcl/common/types.h"
#include "fcl/math/geometry.h"

namespace fcl
{

template <typename S_>
class OBB
{
public:

  using S = S_;

  Matrix3<S> axis;

  Vector3<S> To;

  Vector3<S> extent;

  OBB();

  OBB(const Matrix3<S>& axis,
      const Vector3<S>& center,
      const Vector3<S>& extent);

  bool overlap(const OBB<S>& other) const;
  
  bool overlap(const OBB<S>& other, OBB<S>& overlap_part) const;

  bool contain(const Vector3<S>& p) const;

  OBB<S>& operator +=(const Vector3<S>& p);

  OBB<S>& operator += (const OBB<S>& other);

  OBB<S> operator + (const OBB<S>& other) const;

  S width() const;

  S height() const;

  S depth() const;

  S volume() const;

  S size() const;

  const Vector3<S> center() const;

  S distance(const OBB& other, Vector3<S>* P = nullptr,
                  Vector3<S>* Q = nullptr) const;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};

using OBBf = OBB<float>;
using OBBd = OBB<double>;

template <typename S>
void computeVertices(const OBB<S>& b, Vector3<S> vertices[8]);

template <typename S>
OBB<S> merge_largedist(const OBB<S>& b1, const OBB<S>& b2);

template <typename S>
OBB<S> merge_smalldist(const OBB<S>& b1, const OBB<S>& b2);

template <typename S, typename Derived>
OBB<S> translate(
    const OBB<S>& bv, const Eigen::MatrixBase<Derived>& t);

template <typename S, typename DerivedA, typename DerivedB>
bool overlap(const Eigen::MatrixBase<DerivedA>& R0,
             const Eigen::MatrixBase<DerivedB>& T0,
             const OBB<S>& b1, const OBB<S>& b2);

template <typename S>
bool obbDisjoint(
    const Matrix3<S>& B,
    const Vector3<S>& T,
    const Vector3<S>& a,
    const Vector3<S>& b);

template <typename S>
bool obbDisjoint(
    const Transform3<S>& tf,
    const Vector3<S>& a,
    const Vector3<S>& b);

} // namespace fcl

#include "fcl/math/bv/OBB-inl.h"

#endif