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OBBRSS.h File Reference
#include <hpp/fcl/BV/OBB.h>
#include <hpp/fcl/BV/RSS.h>
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Classes

class  fcl::OBBRSS
 Class merging the OBB and RSS, can handle collision and distance simultaneously. More...

Namespaces

namespace  fcl
 

Main namespace.


Functions

OBBRSS fcl::translate (const OBBRSS &bv, const Vec3f &t)
 Translate the OBBRSS bv.
bool fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2)
 Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity.
bool fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, FCL_REAL &sqrDistLowerBound)
 Check collision between two OBBRSS.
FCL_REAL fcl::distance (const Matrix3f &R0, const Vec3f &T0, const OBBRSS &b1, const OBBRSS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
 Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points.
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