AABB.h

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#ifndef FCL_BV_AABB_H
#define FCL_BV_AABB_H

#include "fcl/common/types.h"

namespace fcl
{

template <typename S_>
class AABB
{
public:

  using S = S_;

  Vector3<S> min_;

  Vector3<S> max_;

  AABB();

  AABB(const Vector3<S>& v);

  AABB(const Vector3<S>& a, const Vector3<S>&b);

  AABB(const AABB<S>& core, const Vector3<S>& delta);

  AABB(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c);

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

  bool contain(const AABB<S>& other) const;

  bool axisOverlap(const AABB<S>& other, int axis_id) const;

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

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

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

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

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

  S width() const;

  S height() const;

  S depth() const;

  S volume() const;

  S size() const;

  S radius() const;

  Vector3<S> center() const;

  S distance(const AABB<S>& other, Vector3<S>* P, Vector3<S>* Q) const;

  S distance(const AABB<S>& other) const;

  bool equal(const AABB<S>& other) const;

  AABB<S>& expand(const Vector3<S>& delta);

  AABB<S>& expand(const AABB<S>& core, S ratio);
};

using AABBf = AABB<float>;
using AABBd = AABB<double>;

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

} // namespace fcl

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

#endif