48 struct CollisionRequest;
68 bool contain(
const Vec3f& p)
const;
90 *
this = *
this + other;
95 OBB operator + (
const OBB& other)
const;
100 return extent.squaredNorm();
112 return 2 * extent[0];
118 return 2 * extent[1];
124 return 2 * extent[2];
130 return width() * height() * depth();
140 const OBB& b1,
const OBB& b2);
FCL_REAL volume() const
Volume of the OBB.
Definition: OBB.h:128
Main namespace.
Definition: AABB.h:43
Oriented bounding box class.
Definition: OBB.h:54
FCL_REAL height() const
Height of the OBB.
Definition: OBB.h:116
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
KDOP< N > translate(const KDOP< N > &bv, const Vec3f &t)
translate the KDOP BV
bool obbDisjoint(const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b)
request to the collision algorithm
Definition: collision_data.h:197
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
double FCL_REAL
Definition: data_types.h:66
FCL_REAL depth() const
Depth of the OBB.
Definition: OBB.h:122
FCL_REAL size() const
Size of the OBB (used in BV_Splitter to order two OBBs)
Definition: OBB.h:98
bool overlap(const Matrix3f &R0, const Vec3f &T0, const AABB &b1, const AABB &b2)
Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity.
Vec3f To
Center of OBB.
Definition: OBB.h:62
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
const Vec3f & center() const
Center of the OBB.
Definition: OBB.h:104
FCL_REAL width() const
Width of the OBB.
Definition: OBB.h:110
Matrix3f axes
Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i...
Definition: OBB.h:59
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Vec3f extent
Half dimensions of OBB.
Definition: OBB.h:65