46struct CollisionRequest;
69 : min_(a.cwiseMin(b)), max_(a.cwiseMax(b)) {}
73 : min_(core.min_ - delta), max_(core.max_ + delta) {}
77 : min_(a.cwiseMin(b).cwiseMin(c)), max_(a.cwiseMax(b).cwiseMax(c)) {}
91 return min_ == other.
min_ && max_ == other.
max_;
102 if (p[0] < min_[0] || p[0] > max_[0])
return false;
103 if (p[1] < min_[1] || p[1] > max_[1])
return false;
104 if (p[2] < min_[2] || p[2] > max_[2])
return false;
111 if (min_[0] > other.
max_[0])
return false;
112 if (min_[1] > other.
max_[1])
return false;
113 if (min_[2] > other.
max_[2])
return false;
115 if (max_[0] < other.
min_[0])
return false;
116 if (max_[1] < other.
min_[1])
return false;
117 if (max_[2] < other.
min_[2])
return false;
135 min_ = min_.cwiseMin(p);
136 max_ = max_.cwiseMax(p);
142 min_ = min_.cwiseMin(other.
min_);
143 max_ = max_.cwiseMax(other.
max_);
175 return (other.
min_[0] >= min_[0]) && (other.
max_[0] <= max_[0]) &&
176 (other.
min_[1] >= min_[1]) && (other.
max_[1] <= max_[1]) &&
177 (other.
min_[2] >= min_[2]) && (other.
max_[2] <= max_[2]);
186 overlap_part.
min_ = min_.cwiseMax(other.
min_);
187 overlap_part.
max_ = max_.cwiseMin(other.
max_);
193 if (min_[axis_id] > other.
max_[axis_id])
return false;
194 if (max_[axis_id] < other.
min_[axis_id])
return false;
210 min_.array() -= delta;
211 max_.array() += delta;
217 min_ = min_ * ratio - core.
min_;
218 max_ = max_ * ratio - core.
max_;
222 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
226static inline AABB translate(
const AABB& aabb,
const Vec3f& t) {
233static inline AABB rotate(
const AABB& aabb,
const Matrix3f& R) {
234 AABB res(R * aabb.min_);
235 Vec3f corner(aabb.min_);
236 const Eigen::DenseIndex bit[3] = {1, 2, 4};
237 for (Eigen::DenseIndex ic = 1; ic < 8;
239 for (Eigen::DenseIndex i = 0; i < 3; ++i) {
240 corner[i] = (ic & bit[i]) ? aabb.max_[i] : aabb.min_[i];
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:54
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Vec3f max_
The max point in the AABB.
Definition: AABB.h:59
bool overlap(const AABB &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
Check whether two AABB are overlap.
AABB(const Vec3f &v)
Creating an AABB at position v with zero size.
Definition: AABB.h:65
bool contain(const AABB &other) const
Check whether the AABB contains another AABB.
Definition: AABB.h:174
bool operator!=(const AABB &other) const
Definition: AABB.h:94
FCL_REAL depth() const
Depth of the AABB.
Definition: AABB.h:166
FCL_REAL volume() const
Volume of the AABB.
Definition: AABB.h:169
AABB & update(const Vec3f &a, const Vec3f &b)
Definition: AABB.h:83
AABB operator+(const AABB &other) const
Return the merged AABB of current AABB and the other one.
Definition: AABB.h:148
FCL_REAL distance(const AABB &other) const
Distance between two AABBs.
AABB(const AABB &core, const Vec3f &delta)
Creating an AABB centered as core and is of half-dimension delta.
Definition: AABB.h:72
bool overlap(const AABB &other, AABB &overlap_part) const
Check whether two AABB are overlap and return the overlap part.
Definition: AABB.h:181
FCL_REAL width() const
Width of the AABB.
Definition: AABB.h:160
bool operator==(const AABB &other) const
Comparison operator.
Definition: AABB.h:90
bool overlap(const AABB &other) const
Check whether two AABB are overlap.
Definition: AABB.h:110
AABB & operator+=(const Vec3f &p)
Merge the AABB and a point.
Definition: AABB.h:134
AABB(const Vec3f &a, const Vec3f &b)
Creating an AABB with two endpoints a and b.
Definition: AABB.h:68
AABB & operator+=(const AABB &other)
Merge the AABB and another AABB.
Definition: AABB.h:141
Vec3f min_
The min point in the AABB.
Definition: AABB.h:57
AABB & expand(const Vec3f &delta)
expand the half size of the AABB by delta, and keep the center unchanged.
Definition: AABB.h:201
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 axisOverlap(const AABB &other, int axis_id) const
Check whether two AABB are overlapped along specific axis.
Definition: AABB.h:192
AABB()
Creating an AABB with zero size (low bound +inf, upper bound -inf)
AABB & expand(const FCL_REAL delta)
expand the half size of the AABB by a scalar delta, and keep the center unchanged.
Definition: AABB.h:209
AABB & operator=(const AABB &other)=default
AABB(const Vec3f &a, const Vec3f &b, const Vec3f &c)
Creating an AABB contains three points.
Definition: AABB.h:76
AABB & expand(const AABB &core, FCL_REAL ratio)
expand the aabb by increase the thickness of the plate by a ratio
Definition: AABB.h:216
bool contain(const Vec3f &p) const
Check whether the AABB contains a point.
Definition: AABB.h:101
FCL_REAL height() const
Height of the AABB.
Definition: AABB.h:163
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.
AABB(const AABB &other)=default
Vec3f center() const
Center of the AABB.
Definition: AABB.h:157
FCL_REAL size() const
Size of the AABB (used in BV_Splitter to order two AABBs)
Definition: AABB.h:154
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
double FCL_REAL
Definition: data_types.h:65
Main namespace.
Definition: broadphase_bruteforce.h:44
request to the collision algorithm
Definition: collision_data.h:235