hpp-fcl
1.4.4
HPP fork of FCL -- The Flexible Collision Library
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38 #ifndef HPP_FCL_AABB_H
39 #define HPP_FCL_AABB_H
85 max_(a.cwiseMax(b).cwiseMax(c))
96 if(p[0] <
min_[0] || p[0] >
max_[0])
return false;
97 if(p[1] <
min_[1] || p[1] >
max_[1])
return false;
98 if(p[2] <
min_[2] || p[2] >
max_[2])
return false;
106 if(
min_[0] > other.
max_[0])
return false;
107 if(
min_[1] > other.
max_[1])
return false;
108 if(
min_[2] > other.
max_[2])
return false;
110 if(
max_[0] < other.
min_[0])
return false;
111 if(
max_[1] < other.
min_[1])
return false;
112 if(
max_[2] < other.
min_[2])
return false;
225 static inline AABB translate(
const AABB& aabb,
const Vec3f& t)
233 static inline AABB rotate(
const AABB& aabb,
const Matrix3f& R)
235 AABB res (R * aabb.min_);
236 Vec3f corner (aabb.min_);
237 const std::size_t bit[3] = { 1, 2, 4 };
238 for (std::size_t ic = 1; ic < 8; ++ic) {
239 for (std::size_t i = 0; i < 3; ++i) {
240 corner[i] = (ic && bit[i]) ? aabb.max_[i] : aabb.min_[i];
252 const AABB& b2,
const CollisionRequest& request,
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:73
bool overlap(const AABB &other) const
Check whether two AABB are overlap.
Definition: AABB.h:104
AABB(const Vec3f &a, const Vec3f &b)
Creating an AABB with two endpoints a and b.
Definition: AABB.h:72
bool contain(const AABB &other) const
Check whether the AABB contains another AABB.
Definition: AABB.h:189
FCL_REAL depth() const
Depth of the AABB.
Definition: AABB.h:175
Vec3f min_
The min point in the AABB.
Definition: AABB.h:59
AABB()
Creating an AABB with zero size (low bound +inf, upper bound -inf)
Vec3f max_
The max point in the AABB.
Definition: AABB.h:61
double FCL_REAL
Definition: data_types.h:68
bool contain(const Vec3f &p) const
Check whether the AABB contains a point.
Definition: AABB.h:94
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
FCL_REAL volume() const
Volume of the AABB.
Definition: AABB.h:181
Main namespace.
Definition: AABB.h:43
request to the collision algorithm
Definition: collision_data.h:150
FCL_REAL distance(const AABB &other) const
Distance between two AABBs.
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:55
bool overlap(const AABB &other, AABB &overlap_part) const
Check whether two AABB are overlap and return the overlap part.
Definition: AABB.h:195
AABB(const Vec3f &a, const Vec3f &b, const Vec3f &c)
Creating an AABB contains three points.
Definition: AABB.h:84
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:74
FCL_REAL size() const
Size of the AABB (used in BV_Splitter to order two AABBs)
Definition: AABB.h:151
FCL_REAL width() const
Width of the AABB.
Definition: AABB.h:163
AABB(const Vec3f &v)
Creating an AABB at position v with zero size.
Definition: AABB.h:67
AABB & operator+=(const Vec3f &p)
Merge the AABB and a point.
Definition: AABB.h:128
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.
AABB(const AABB &core, const Vec3f &delta)
Creating an AABB centered as core and is of half-dimension delta.
Definition: AABB.h:78
AABB & expand(const Vec3f &delta)
expand the half size of the AABB by delta, and keep the center unchanged.
Definition: AABB.h:208
FCL_REAL height() const
Height of the AABB.
Definition: AABB.h:169
Vec3f center() const
Center of the AABB.
Definition: AABB.h:157
AABB operator+(const AABB &other) const
Return the merged AABB of current AABB and the other one.
Definition: AABB.h:144