fcl::AABB Class Reference

A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...

#include <hpp/fcl/BV/AABB.h>

Public Member Functions
	AABB ()
	Creating an AABB with zero size (low bound +inf, upper bound -inf) More...
	AABB (const Vec3f &v)
	Creating an AABB at position v with zero size. More...
	AABB (const Vec3f &a, const Vec3f &b)
	Creating an AABB with two endpoints a and b. More...
	AABB (const AABB &core, const Vec3f &delta)
	Creating an AABB centered as core and is of half-dimension delta. More...
	AABB (const Vec3f &a, const Vec3f &b, const Vec3f &c)
	Creating an AABB contains three points. More...
bool	overlap (const AABB &other) const
	Check whether two AABB are overlap. More...
bool	overlap (const AABB &, FCL_REAL &) const
	Not implemented. More...
bool	contain (const AABB &other) const
	Check whether the AABB contains another AABB. More...
bool	axisOverlap (const AABB &other, int axis_id) const
	Check whether two AABB are overlapped along specific axis. More...
bool	overlap (const AABB &other, AABB &overlap_part) const
	Check whether two AABB are overlap and return the overlap part. More...
bool	contain (const Vec3f &p) const
	Check whether the AABB contains a point. More...
AABB &	operator+= (const Vec3f &p)
	Merge the AABB and a point. More...
AABB &	operator+= (const AABB &other)
	Merge the AABB and another AABB. More...
AABB	operator+ (const AABB &other) const
	Return the merged AABB of current AABB and the other one. More...
FCL_REAL	width () const
	Width of the AABB. More...
FCL_REAL	height () const
	Height of the AABB. More...
FCL_REAL	depth () const
	Depth of the AABB. More...
FCL_REAL	volume () const
	Volume of the AABB. More...
FCL_REAL	size () const
	Size of the AABB (used in BV_Splitter to order two AABBs) More...
FCL_REAL	radius () const
	Radius of the AABB. More...
Vec3f	center () const
	Center of the AABB. More...
FCL_REAL	distance (const AABB &other, Vec3f *P, Vec3f *Q) const
	Distance between two AABBs; P and Q, should not be NULL, return the nearest points. More...
FCL_REAL	distance (const AABB &other) const
	Distance between two AABBs. More...
bool	equal (const AABB &other) const
	whether two AABB are equal More...
AABB &	expand (const Vec3f &delta)
	expand the half size of the AABB by delta, and keep the center unchanged. More...
AABB &	expand (const AABB &core, FCL_REAL ratio)
	expand the aabb by increase the thickness of the plate by a ratio More...

Public Attributes
Vec3f	min_
	The min point in the AABB. More...
Vec3f	max_
	The max point in the AABB. More...

Detailed Description

A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points.

Constructor & Destructor Documentation

fcl::AABB::AABB

(

)

Creating an AABB with zero size (low bound +inf, upper bound -inf)

fcl::AABB::AABB ( const Vec3f &  v )

inline

Creating an AABB at position v with zero size.

fcl::AABB::AABB ( const Vec3f &  a, const Vec3f &  b  )

inline

Creating an AABB with two endpoints a and b.

fcl::AABB::AABB ( const AABB &  core, const Vec3f &  delta  )

inline

Creating an AABB centered as core and is of half-dimension delta.

fcl::AABB::AABB ( const Vec3f &  a, const Vec3f &  b, const Vec3f &  c  )

inline

Creating an AABB contains three points.

Member Function Documentation

bool fcl::AABB::axisOverlap ( const AABB &  other, int  axis_id  ) const

inline

Check whether two AABB are overlapped along specific axis.

References max_, and min_.

Vec3f fcl::AABB::center ( ) const

inline

Center of the AABB.

References max_, and min_.

Referenced by fcl::OcTree::computeLocalAABB().

bool fcl::AABB::contain ( const AABB &  other ) const

inline

Check whether the AABB contains another AABB.

References max_, and min_.

bool fcl::AABB::contain ( const Vec3f &  p ) const

inline

Check whether the AABB contains a point.

References max_, and min_.

FCL_REAL fcl::AABB::depth ( ) const

inline

Depth of the AABB.

References max_, and min_.

Referenced by fcl::SpatialHash::SpatialHash(), and volume().

FCL_REAL fcl::AABB::distance	(	const AABB &	other,
		Vec3f *	P,
		Vec3f *	Q
	)		const

Distance between two AABBs; P and Q, should not be NULL, return the nearest points.

Referenced by fcl::SpatialHashingCollisionManager< HashTable >::distance_().

FCL_REAL fcl::AABB::distance

(

const AABB &

other

)

const

Distance between two AABBs.

bool fcl::AABB::equal ( const AABB &  other ) const

inline

whether two AABB are equal

References fcl::isEqual(), max_, and min_.

Referenced by fcl::SpatialHashingCollisionManager< HashTable >::distance_().

AABB& fcl::AABB::expand ( const Vec3f &  delta )

inline

expand the half size of the AABB by delta, and keep the center unchanged.

References max_, and min_.

Referenced by fcl::SpatialHashingCollisionManager< HashTable >::distance_().

AABB& fcl::AABB::expand ( const AABB &  core, FCL_REAL  ratio  )

inline

expand the aabb by increase the thickness of the plate by a ratio

References max_, and min_.

FCL_REAL fcl::AABB::height ( ) const

inline

Height of the AABB.

References max_, and min_.

Referenced by fcl::SpatialHash::SpatialHash(), and volume().

AABB fcl::AABB::operator+ ( const AABB &  other ) const

inline

Return the merged AABB of current AABB and the other one.

AABB& fcl::AABB::operator+= ( const Vec3f &  p )

inline

Merge the AABB and a point.

References max_, and min_.

AABB& fcl::AABB::operator+= ( const AABB &  other )

inline

Merge the AABB and another AABB.

References max_, and min_.

bool fcl::AABB::overlap ( const AABB &  other ) const

inline

Check whether two AABB are overlap.

References max_, and min_.

Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting(), and overlap().

bool fcl::AABB::overlap ( const AABB &  , FCL_REAL &    ) const

inline

Not implemented.

bool fcl::AABB::overlap ( const AABB &  other, AABB &  overlap_part  ) const

inline

Check whether two AABB are overlap and return the overlap part.

References max_, min_, and overlap().

FCL_REAL fcl::AABB::radius ( ) const

inline

Radius of the AABB.

References max_, and min_.

FCL_REAL fcl::AABB::size ( ) const

inline

Size of the AABB (used in BV_Splitter to order two AABBs)

References max_, and min_.

FCL_REAL fcl::AABB::volume ( ) const

inline

Volume of the AABB.

References depth(), height(), and width().

FCL_REAL fcl::AABB::width ( ) const

inline

Width of the AABB.

References max_, and min_.

Referenced by fcl::SpatialHash::SpatialHash(), and volume().

Member Data Documentation

Vec3f fcl::AABB::max_

The max point in the AABB.

Referenced by axisOverlap(), center(), fcl::CollisionObject::computeAABB(), fcl::SpatialHashingCollisionManager< HashTable >::computeBound(), fcl::computeChildBV(), contain(), depth(), fcl::SpatialHashingCollisionManager< HashTable >::distance_(), equal(), expand(), fcl::SaPCollisionManager::EndPoint::getVal(), height(), fcl::SpatialHash::operator()(), operator+=(), overlap(), radius(), fcl::rotate(), size(), fcl::translate(), and width().

Vec3f fcl::AABB::min_

The min point in the AABB.

Referenced by axisOverlap(), center(), fcl::CollisionObject::computeAABB(), fcl::SpatialHashingCollisionManager< HashTable >::computeBound(), fcl::computeChildBV(), fcl::OcTree::computeLocalAABB(), contain(), depth(), fcl::SpatialHashingCollisionManager< HashTable >::distance_(), equal(), expand(), fcl::SaPCollisionManager::EndPoint::getVal(), height(), fcl::SpatialHash::operator()(), operator+=(), overlap(), radius(), fcl::rotate(), size(), fcl::translate(), and width().