FCL
0.6.0
Flexible Collision Library

Oriented bounding box class. More...
#include <OBB.h>
Public Types  
using  S = S_ 
Public Member Functions  
OBB ()  
Constructor.  
OBB (const Matrix3< S > &axis, const Vector3< S > ¢er, const Vector3< S > &extent)  
Constructor.  
bool  overlap (const OBB< S > &other) const 
Check collision between two OBB, return true if collision happens. More...  
bool  overlap (const OBB< S > &other, OBB< S > &overlap_part) const 
Check collision between two OBB and return the overlap part. For OBB, the overlap_part return value is NOT used as the overlap part of two obbs usually is not an obb.  
bool  contain (const Vector3< S > &p) const 
Check whether the OBB contains a point.  
OBB< S > &  operator+= (const Vector3< S > &p) 
A simple way to merge the OBB and a point (the result is not compact).  
OBB< S > &  operator+= (const OBB< S > &other) 
Merge the OBB and another OBB (the result is not compact).  
OBB< S >  operator+ (const OBB< S > &other) const 
Return the merged OBB of current OBB and the other one (the result is not compact).  
S  width () const 
Width of the OBB.  
S  height () const 
Height of the OBB.  
S  depth () const 
Depth of the OBB.  
S  volume () const 
Volume of the OBB.  
S  size () const 
Size of the OBB (used in BV_Splitter to order two OBBs)  
const Vector3< S >  center () const 
Center of the OBB.  
S  distance (const OBB &other, Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr) const 
Distance between two OBBs, not implemented.  
Public Attributes  
Matrix3< S >  axis 
Orientation of OBB. The axes of the rotation matrix are the principle directions of the box. We assume that the first column corresponds to the axis with the longest box edge, second column corresponds to the shorter one and the third coulumn corresponds to the shortest one.  
Vector3< S >  To 
Center of OBB.  
Vector3< S >  extent 
Half dimensions of OBB.  
Oriented bounding box class.
Check collision between two OBB, return true if collision happens.
compute the relative transform that takes us from this>frame to other.frame