hpp-fcl 2.4.1
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 {
44namespace fcl {
45
46struct CollisionRequest;
47
50
59
62
65
66 OBB() : axes(Matrix3f::Zero()), To(Vec3f::Zero()), extent(Vec3f::Zero()) {}
67
69 bool operator==(const OBB& other) const {
70 return axes == other.axes && To == other.To && extent == other.extent;
71 }
72
74 bool operator!=(const OBB& other) const { return !(*this == other); }
75
77 bool contain(const Vec3f& p) const;
78
81 bool overlap(const OBB& other) const;
82
87 bool overlap(const OBB& other, const CollisionRequest& request,
88 FCL_REAL& sqrDistLowerBound) const;
89
91 FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
92
95 OBB& operator+=(const Vec3f& p);
96
98 OBB& operator+=(const OBB& other) {
99 *this = *this + other;
100 return *this;
101 }
102
105 OBB operator+(const OBB& other) const;
106
108 inline FCL_REAL size() const { return extent.squaredNorm(); }
109
111 inline const Vec3f& center() const { return To; }
112
114 inline FCL_REAL width() const { return 2 * extent[0]; }
115
117 inline FCL_REAL height() const { return 2 * extent[1]; }
118
120 inline FCL_REAL depth() const { return 2 * extent[2]; }
121
123 inline FCL_REAL volume() const { return width() * height() * depth(); }
124};
125
127HPP_FCL_DLLAPI OBB translate(const OBB& bv, const Vec3f& t);
128
131HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1,
132 const OBB& b2);
133
136HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1,
137 const OBB& b2, const CollisionRequest& request,
138 FCL_REAL& sqrDistLowerBound);
139
145HPP_FCL_DLLAPI bool obbDisjoint(const Matrix3f& B, const Vec3f& T,
146 const Vec3f& a, const Vec3f& b);
147} // namespace fcl
148
149} // namespace hpp
150
151#endif
#define HPP_FCL_DLLAPI
Definition: config.hh:88
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 OBB &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
Distance between two OBBs, not implemented.
OBB()
Definition: OBB.h:66
OBB & operator+=(const Vec3f &p)
A simple way to merge the OBB and a point (the result is not compact).
OBB & operator+=(const OBB &other)
Merge the OBB and another OBB (the result is not compact).
Definition: OBB.h:98
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:120
bool operator!=(const OBB &other) const
Difference operator.
Definition: OBB.h:74
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:123
FCL_REAL width() const
Width of the OBB.
Definition: OBB.h:114
bool contain(const Vec3f &p) const
Check whether the OBB contains a point.
bool operator==(const OBB &other) const
Equality operator.
Definition: OBB.h:69
OBB operator+(const OBB &other) const
Return the merged OBB of current OBB and the other one (the result is not compact).
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:108
Vec3f To
Center of OBB.
Definition: OBB.h:61
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
Oriented bounding box class.
Definition: OBB.h:52