Oriented bounding box class. More...

#include <OBB.h>

Public Member Functions
	OBB ()
	Constructor.

	OBB (const Matrix3< S > &axis, const Vector3< S > &center, 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.

Detailed Description

Oriented bounding box class.

Member Function Documentation

template<typename S >

bool fcl::OBB< S >::overlap ( const OBB< S > & other ) const

Check collision between two OBB, return true if collision happens.

compute the relative transform that takes us from this->frame to other.frame

The documentation for this class was generated from the following files: