OBBRSS.h

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#ifndef FCL_BV_OBBRSS_H
#define FCL_BV_OBBRSS_H

#include "fcl/math/bv/OBB.h"
#include "fcl/math/bv/RSS.h"

namespace fcl
{

template <typename S_>
class OBBRSS
{
public:

  using S = S_;

  OBB<S> obb;

  RSS<S> rss;

  bool overlap(const OBBRSS<S>& other) const;

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

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

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

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

  OBBRSS<S> operator + (const OBBRSS<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 OBBRSS<S>& other,
                  Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr) const;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};

using OBBRSSf = OBBRSS<float>;
using OBBRSSd = OBBRSS<double>;

template <typename S>
OBBRSS<S> translate(const OBBRSS<S>& bv, const Vector3<S>& t);

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

template <typename S>
bool overlap(
    const Transform3<S>& tf,
    const OBBRSS<S>& b1,
    const OBBRSS<S>& b2);

template <typename S, typename DerivedA, typename DerivedB>
S distance(
    const Eigen::MatrixBase<DerivedA>& R0,
    const Eigen::MatrixBase<DerivedB>& T0,
    const OBBRSS<S>& b1, const OBBRSS<S>& b2,
    Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr);

template <typename S>
S distance(
    const Transform3<S>& tf,
    const OBBRSS<S>& b1,
    const OBBRSS<S>& b2,
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);

} // namespace fcl

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

#endif