hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
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OBB.h
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35
38#ifndef HPP_FCL_OBB_H
39#define HPP_FCL_OBB_H
40
41#include <hpp/fcl/data_types.h>
42
43namespace hpp
44{
45namespace fcl
46{
47
48struct CollisionRequest;
49
52
55{
59
62
65
67 : axes(Matrix3f::Zero())
68 , To(Vec3f::Zero())
69 , extent(Vec3f::Zero())
70 {}
71
73 bool operator==(const OBB & other) const
74 {
75 return
76 axes == other.axes
77 && To == other.To
78 && extent == other.extent;
79 }
80
82 bool operator!=(const OBB & other) const
83 {
84 return !(*this == other);
85 }
86
88 bool contain(const Vec3f& p) const;
89
92 bool overlap(const OBB& other) const;
93
98 bool overlap(const OBB& other, const CollisionRequest& request,
99 FCL_REAL& sqrDistLowerBound) const;
100
102 FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
103
105 OBB& operator += (const Vec3f& p);
106
108 OBB& operator += (const OBB& other)
109 {
110 *this = *this + other;
111 return *this;
112 }
113
115 OBB operator + (const OBB& other) const;
116
118 inline FCL_REAL size() const
119 {
120 return extent.squaredNorm();
121 }
122
124 inline const Vec3f& center() const
125 {
126 return To;
127 }
128
130 inline FCL_REAL width() const
131 {
132 return 2 * extent[0];
133 }
134
136 inline FCL_REAL height() const
137 {
138 return 2 * extent[1];
139 }
140
142 inline FCL_REAL depth() const
143 {
144 return 2 * extent[2];
145 }
146
148 inline FCL_REAL volume() const
149 {
150 return width() * height() * depth();
151 }
152};
153
154
156HPP_FCL_DLLAPI OBB translate(const OBB& bv, const Vec3f& t);
157
159HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0,
160 const OBB& b1, const OBB& b2);
161
163HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1,
164 const OBB& b2, const CollisionRequest& request,
165 FCL_REAL& sqrDistLowerBound);
166
167
173HPP_FCL_DLLAPI bool obbDisjoint(const Matrix3f& B, const Vec3f& T,
174 const Vec3f& a, const Vec3f& b);
175}
176
177} // namespace hpp
178
179#endif
#define HPP_FCL_DLLAPI
Definition: config.hh:64
const Vec3f & center() const
Center of the OBB.
Definition: OBB.h:124
FCL_REAL height() const
Height of the OBB.
Definition: OBB.h:136
FCL_REAL distance(const OBB &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
Distance between two OBBs, not implemented.
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 overlap(const OBB &other) const
Vec3f extent
Half dimensions of OBB.
Definition: OBB.h:64
FCL_REAL depth() const
Depth of the OBB.
Definition: OBB.h:142
bool operator!=(const OBB &other) const
Difference operator.
Definition: OBB.h:82
KDOP< N > translate(const KDOP< N > &bv, const Vec3f &t)
translate the KDOP BV
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.
FCL_REAL volume() const
Volume of the OBB.
Definition: OBB.h:148
FCL_REAL width() const
Width of the OBB.
Definition: OBB.h:130
bool contain(const Vec3f &p) const
Check whether the OBB contains a point.
bool operator==(const OBB &other) const
Equality operator.
Definition: OBB.h:73
bool overlap(const OBB &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
bool obbDisjoint(const Matrix3f &B, const Vec3f &T, const Vec3f &a, const Vec3f &b)
FCL_REAL size() const
Size of the OBB (used in BV_Splitter to order two OBBs)
Definition: OBB.h:118
Vec3f To
Center of OBB.
Definition: OBB.h:61
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
double FCL_REAL
Definition: data_types.h:66
Main namespace.
Definition: AABB.h:44
request to the collision algorithm
Definition: collision_data.h:210
Oriented bounding box class.
Definition: OBB.h:55