48 struct CollisionRequest;
69 , extent(
Vec3f::Zero())
84 return !(*
this == other);
88 bool contain(
const Vec3f& p)
const;
110 *
this = *
this + other;
115 OBB operator + (
const OBB& other)
const;
120 return extent.squaredNorm();
132 return 2 * extent[0];
138 return 2 * extent[1];
144 return 2 * extent[2];
150 return width() * height() * depth();
160 const OBB& b1,
const OBB& b2);
FCL_REAL volume() const
Volume of the OBB.
Definition: OBB.h:148
Main namespace.
Definition: AABB.h:43
FCL_REAL height() const
Height of the OBB.
Definition: OBB.h:136
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:208
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:142
FCL_REAL size() const
Size of the OBB (used in BV_Splitter to order two OBBs)
Definition: OBB.h:118
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.
bool operator==(const OBB &other) const
Equality operator.
Definition: OBB.h:73
Vec3f To
Center of OBB.
Definition: OBB.h:61
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
const Vec3f & center() const
Center of the OBB.
Definition: OBB.h:124
FCL_REAL width() const
Width of the OBB.
Definition: OBB.h:130
OBB()
Definition: OBB.h:66
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:58
bool operator!=(const OBB &other) const
Difference operator.
Definition: OBB.h:82
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Vec3f extent
Half dimensions of OBB.
Definition: OBB.h:64
Oriented bounding box class.
Definition: OBB.h:54