FCL  0.6.0
Flexible Collision Library
OBBRSS.h
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35 
38 #ifndef FCL_BV_OBBRSS_H
39 #define FCL_BV_OBBRSS_H
40 
41 #include "fcl/math/bv/OBB.h"
42 #include "fcl/math/bv/RSS.h"
43 
44 namespace fcl
45 {
46 
49 template <typename S_>
50 class OBBRSS
51 {
52 public:
53 
54  using S = S_;
55 
58 
61 
63  bool overlap(const OBBRSS<S>& other) const;
64 
66  bool overlap(const OBBRSS<S>& other, OBBRSS<S>& overlap_part) const;
67 
69  bool contain(const Vector3<S>& p) const;
70 
72  OBBRSS<S>& operator += (const Vector3<S>& p);
73 
75  OBBRSS<S>& operator += (const OBBRSS<S>& other);
76 
78  OBBRSS<S> operator + (const OBBRSS<S>& other) const;
79 
81  S width() const;
82 
84  S height() const;
85 
87  S depth() const;
88 
90  S volume() const;
91 
93  S size() const;
94 
96  const Vector3<S> center() const;
97 
99  S distance(const OBBRSS<S>& other,
100  Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr) const;
101 
102  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
103 
104 };
105 
106 using OBBRSSf = OBBRSS<float>;
107 using OBBRSSd = OBBRSS<double>;
108 
110 template <typename S>
111 OBBRSS<S> translate(const OBBRSS<S>& bv, const Vector3<S>& t);
112 
115 template <typename S, typename DerivedA, typename DerivedB>
116 bool overlap(const Eigen::MatrixBase<DerivedA>& R0,
117  const Eigen::MatrixBase<DerivedB>& T0,
118  const OBBRSS<S>& b1, const OBBRSS<S>& b2);
119 
122 template <typename S>
123 bool overlap(
124  const Transform3<S>& tf,
125  const OBBRSS<S>& b1,
126  const OBBRSS<S>& b2);
127 
130 template <typename S, typename DerivedA, typename DerivedB>
131 S distance(
132  const Eigen::MatrixBase<DerivedA>& R0,
133  const Eigen::MatrixBase<DerivedB>& T0,
134  const OBBRSS<S>& b1, const OBBRSS<S>& b2,
135  Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr);
136 
139 template <typename S>
140 S distance(
141  const Transform3<S>& tf,
142  const OBBRSS<S>& b1,
143  const OBBRSS<S>& b2,
144  Vector3<S>* P = nullptr,
145  Vector3<S>* Q = nullptr);
146 
147 } // namespace fcl
148 
149 #include "fcl/math/bv/OBBRSS-inl.h"
150 
151 #endif
OBBRSS< S > operator+(const OBBRSS< S > &other) const
Merge two OBBRSS.
Definition: OBBRSS-inl.h:95
S width() const
Width of the OBRSS.
Definition: OBBRSS-inl.h:105
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
OBBRSS< S > & operator+=(const Vector3< S > &p)
Merge the OBBRSS and a point.
Definition: OBBRSS-inl.h:78
S volume() const
Volume of the OBBRSS.
Definition: OBBRSS-inl.h:126
AABB< S > translate(const AABB< S > &aabb, const Eigen::MatrixBase< Derived > &t)
translate the center of AABB by t
Definition: AABB-inl.h:345
S depth() const
Depth of the OBBRSS.
Definition: OBBRSS-inl.h:119
const Vector3< S > center() const
Center of the OBBRSS.
Definition: OBBRSS-inl.h:140
OBB< S > obb
OBB member, for rotation.
Definition: OBBRSS.h:57
bool overlap(const OBBRSS< S > &other) const
Check collision between two OBBRSS.
Definition: OBBRSS-inl.h:56
S distance(const OBBRSS< S > &other, Vector3< S > *P=nullptr, Vector3< S > *Q=nullptr) const
Distance between two OBBRSS; P and Q , is not nullptr, returns the nearest points.
Definition: OBBRSS-inl.h:147
RSS< S > rss
RSS member, for distance.
Definition: OBBRSS.h:60
bool contain(const Vector3< S > &p) const
Check whether the OBBRSS contains a point.
Definition: OBBRSS-inl.h:71
S size() const
Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)
Definition: OBBRSS-inl.h:133
S height() const
Height of the OBBRSS.
Definition: OBBRSS-inl.h:112
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: OBBRSS.h:50