hpp-fcl 2.3.6
HPP fork of FCL -- The Flexible Collision Library
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OBBRSS.h
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35
38#ifndef HPP_FCL_OBBRSS_H
39#define HPP_FCL_OBBRSS_H
40
41#include <hpp/fcl/BV/OBB.h>
42#include <hpp/fcl/BV/RSS.h>
43
44namespace hpp {
45namespace fcl {
46
47struct CollisionRequest;
48
51
57
60
62 bool operator==(const OBBRSS& other) const {
63 return obb == other.obb && rss == other.rss;
64 }
65
67 bool operator!=(const OBBRSS& other) const { return !(*this == other); }
68
70 inline bool contain(const Vec3f& p) const { return obb.contain(p); }
71
73 bool overlap(const OBBRSS& other) const { return obb.overlap(other.obb); }
74
78 bool overlap(const OBBRSS& other, const CollisionRequest& request,
79 FCL_REAL& sqrDistLowerBound) const {
80 return obb.overlap(other.obb, request, sqrDistLowerBound);
81 }
82
85 FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL,
86 Vec3f* Q = NULL) const {
87 return rss.distance(other.rss, P, Q);
88 }
89
91 OBBRSS& operator+=(const Vec3f& p) {
92 obb += p;
93 rss += p;
94 return *this;
95 }
96
98 OBBRSS& operator+=(const OBBRSS& other) {
99 *this = *this + other;
100 return *this;
101 }
102
104 OBBRSS operator+(const OBBRSS& other) const {
105 OBBRSS result;
106 result.obb = obb + other.obb;
107 result.rss = rss + other.rss;
108 return result;
109 }
110
112 inline FCL_REAL size() const { return obb.size(); }
113
115 inline const Vec3f& center() const { return obb.center(); }
116
118 inline FCL_REAL width() const { return obb.width(); }
119
121 inline FCL_REAL height() const { return obb.height(); }
122
124 inline FCL_REAL depth() const { return obb.depth(); }
125
127 inline FCL_REAL volume() const { return obb.volume(); }
128};
129
132inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
133 const OBBRSS& b2) {
134 return overlap(R0, T0, b1.obb, b2.obb);
135}
136
143inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
144 const OBBRSS& b2, const CollisionRequest& request,
145 FCL_REAL& sqrDistLowerBound) {
146 return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
147}
148
151inline FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
152 const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL) {
153 return distance(R0, T0, b1.rss, b2.rss, P, Q);
154}
155
156} // namespace fcl
157
158} // namespace hpp
159
160#endif
#define HPP_FCL_DLLAPI
Definition: config.hh:64
const Vec3f & center() const
Center of the OBB.
Definition: OBB.h:111
FCL_REAL height() const
Height of the OBB.
Definition: OBB.h:117
FCL_REAL distance(const OBBRSS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points.
Definition: OBBRSS.h:85
bool overlap(const OBBRSS &other) const
Check collision between two OBBRSS.
Definition: OBBRSS.h:73
FCL_REAL depth() const
Depth of the OBBRSS.
Definition: OBBRSS.h:124
OBB obb
OBB member, for rotation.
Definition: OBBRSS.h:56
FCL_REAL distance(const RSS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
the distance between two RSS; P and Q, if not NULL, return the nearest points
OBBRSS & operator+=(const Vec3f &p)
Merge the OBBRSS and a point.
Definition: OBBRSS.h:91
const Vec3f & center() const
Center of the OBBRSS.
Definition: OBBRSS.h:115
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.
bool contain(const Vec3f &p) const
Check whether the OBBRSS contains a point.
Definition: OBBRSS.h:70
OBBRSS & operator+=(const OBBRSS &other)
Merge two OBBRSS.
Definition: OBBRSS.h:98
OBBRSS operator+(const OBBRSS &other) const
Merge two OBBRSS.
Definition: OBBRSS.h:104
bool overlap(const OBB &other) const
FCL_REAL width() const
Width of the OBRSS.
Definition: OBBRSS.h:118
FCL_REAL volume() const
Volume of the OBBRSS.
Definition: OBBRSS.h:127
bool overlap(const OBBRSS &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
Definition: OBBRSS.h:78
FCL_REAL depth() const
Depth of the OBB.
Definition: OBB.h:120
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.
RSS rss
RSS member, for distance.
Definition: OBBRSS.h:59
FCL_REAL volume() const
Volume of the OBB.
Definition: OBB.h:123
FCL_REAL width() const
Width of the OBB.
Definition: OBB.h:114
bool operator==(const OBBRSS &other) const
Equality operator.
Definition: OBBRSS.h:62
FCL_REAL height() const
Height of the OBBRSS.
Definition: OBBRSS.h:121
bool contain(const Vec3f &p) const
Check whether the OBB contains a point.
FCL_REAL size() const
Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)
Definition: OBBRSS.h:112
FCL_REAL size() const
Size of the OBB (used in BV_Splitter to order two OBBs)
Definition: OBB.h:108
bool operator!=(const OBBRSS &other) const
Difference operator.
Definition: OBBRSS.h:67
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
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: OBBRSS.h:54
Oriented bounding box class.
Definition: OBB.h:52
A class for rectangle sphere-swept bounding volume.
Definition: RSS.h:53