hpp-fcl  1.8.1
HPP fork of FCL -- The Flexible Collision Library
AABB.h
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35 
38 #ifndef HPP_FCL_AABB_H
39 #define HPP_FCL_AABB_H
40 
41 #include <hpp/fcl/data_types.h>
42 
43 namespace hpp
44 {
45 namespace fcl
46 {
47 
48 struct CollisionRequest;
49 
53 
56 {
57 public:
58 
63 
65  AABB();
66 
68  AABB(const Vec3f& v) : min_(v), max_(v)
69  {
70  }
71 
73  AABB(const Vec3f& a, const Vec3f&b) : min_(a.cwiseMin(b)),
74  max_(a.cwiseMax(b))
75  {
76  }
77 
79  AABB(const AABB& core, const Vec3f& delta) : min_(core.min_ - delta),
80  max_(core.max_ + delta)
81  {
82  }
83 
85  AABB(const Vec3f& a, const Vec3f& b, const Vec3f& c) : min_(a.cwiseMin(b).cwiseMin(c)),
86  max_(a.cwiseMax(b).cwiseMax(c))
87  {
88  }
89 
90  AABB & update(const Vec3f& a, const Vec3f& b)
91  {
92  min_ = a.cwiseMin(b); max_ = a.cwiseMax(b);
93  return *this;
94  }
95 
97  bool operator==(const AABB & other) const
98  {
99  return min_ == other.min_ && max_ == other.max_;
100  }
101 
105 
107  inline bool contain(const Vec3f& p) const
108  {
109  if(p[0] < min_[0] || p[0] > max_[0]) return false;
110  if(p[1] < min_[1] || p[1] > max_[1]) return false;
111  if(p[2] < min_[2] || p[2] > max_[2]) return false;
112 
113  return true;
114  }
115 
117  inline bool overlap(const AABB& other) const
118  {
119  if(min_[0] > other.max_[0]) return false;
120  if(min_[1] > other.max_[1]) return false;
121  if(min_[2] > other.max_[2]) return false;
122 
123  if(max_[0] < other.min_[0]) return false;
124  if(max_[1] < other.min_[1]) return false;
125  if(max_[2] < other.min_[2]) return false;
126 
127  return true;
128  }
129 
131  bool overlap(const AABB& other, const CollisionRequest& request,
132  FCL_REAL& sqrDistLowerBound) const;
133 
135  FCL_REAL distance(const AABB& other) const;
136 
138  FCL_REAL distance(const AABB& other, Vec3f* P, Vec3f* Q) const;
139 
141  inline AABB& operator += (const Vec3f& p)
142  {
143  min_ = min_.cwiseMin(p);
144  max_ = max_.cwiseMax(p);
145  return *this;
146  }
147 
149  inline AABB& operator += (const AABB& other)
150  {
151  min_ = min_.cwiseMin(other.min_);
152  max_ = max_.cwiseMax(other.max_);
153  return *this;
154  }
155 
157  inline AABB operator + (const AABB& other) const
158  {
159  AABB res(*this);
160  return res += other;
161  }
162 
164  inline FCL_REAL size() const
165  {
166  return (max_ - min_).squaredNorm();
167  }
168 
170  inline Vec3f center() const
171  {
172  return (min_ + max_) * 0.5;
173  }
174 
176  inline FCL_REAL width() const
177  {
178  return max_[0] - min_[0];
179  }
180 
182  inline FCL_REAL height() const
183  {
184  return max_[1] - min_[1];
185  }
186 
188  inline FCL_REAL depth() const
189  {
190  return max_[2] - min_[2];
191  }
192 
194  inline FCL_REAL volume() const
195  {
196  return width() * height() * depth();
197  }
198 
200 
202  inline bool contain(const AABB& other) const
203  {
204  return (other.min_[0] >= min_[0]) && (other.max_[0] <= max_[0]) && (other.min_[1] >= min_[1]) && (other.max_[1] <= max_[1]) && (other.min_[2] >= min_[2]) && (other.max_[2] <= max_[2]);
205  }
206 
208  inline bool overlap(const AABB& other, AABB& overlap_part) const
209  {
210  if(!overlap(other))
211  {
212  return false;
213  }
214 
215  overlap_part.min_ = min_.cwiseMax(other.min_);
216  overlap_part.max_ = max_.cwiseMin(other.max_);
217  return true;
218  }
219 
221  inline AABB& expand(const Vec3f& delta)
222  {
223  min_ -= delta;
224  max_ += delta;
225  return *this;
226  }
227 
229  inline AABB& expand(const AABB& core, FCL_REAL ratio)
230  {
231  min_ = min_ * ratio - core.min_;
232  max_ = max_ * ratio - core.max_;
233  return *this;
234  }
235 
236  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
237 };
238 
240 static inline AABB translate(const AABB& aabb, const Vec3f& t)
241 {
242  AABB res(aabb);
243  res.min_ += t;
244  res.max_ += t;
245  return res;
246 }
247 
248 static inline AABB rotate(const AABB& aabb, const Matrix3f& R)
249 {
250  AABB res (R * aabb.min_);
251  Vec3f corner (aabb.min_);
252  const Eigen::DenseIndex bit[3] = { 1, 2, 4 };
253  for (Eigen::DenseIndex ic = 1; ic < 8; ++ic) { // ic = 0 corresponds to aabb.min_. Skip it.
254  for (Eigen::DenseIndex i = 0; i < 3; ++i) {
255  corner[i] = (ic & bit[i]) ? aabb.max_[i] : aabb.min_[i];
256  }
257  res += R * corner;
258  }
259  return res;
260 }
261 
263 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
264  const AABB& b2);
265 
267 HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
268  const AABB& b2, const CollisionRequest& request,
269  FCL_REAL& sqrDistLowerBound);
270 }
271 
272 } // namespace hpp
273 
274 #endif
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:56
#define HPP_FCL_DLLAPI
Definition: config.hh:64
Vec3f max_
The max point in the AABB.
Definition: AABB.h:62
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:68
bool contain(const AABB &other) const
Check whether the AABB contains another AABB.
Definition: AABB.h:202
FCL_REAL depth() const
Depth of the AABB.
Definition: AABB.h:188
FCL_REAL volume() const
Volume of the AABB.
Definition: AABB.h:194
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:79
bool overlap(const AABB &other, AABB &overlap_part) const
Check whether two AABB are overlap and return the overlap part.
Definition: AABB.h:208
FCL_REAL width() const
Width of the AABB.
Definition: AABB.h:176
bool operator==(const AABB &other) const
Comparison operator.
Definition: AABB.h:97
bool overlap(const AABB &other) const
Check whether two AABB are overlap.
Definition: AABB.h:117
AABB(const Vec3f &a, const Vec3f &b)
Creating an AABB with two endpoints a and b.
Definition: AABB.h:73
Vec3f min_
The min point in the AABB.
Definition: AABB.h:60
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 & update(const Vec3f &a, const Vec3f &b)
Definition: AABB.h:90
AABB()
Creating an AABB with zero size (low bound +inf, upper bound -inf)
AABB & expand(const AABB &core, FCL_REAL ratio)
expand the aabb by increase the thickness of the plate by a ratio
Definition: AABB.h:229
AABB(const Vec3f &a, const Vec3f &b, const Vec3f &c)
Creating an AABB contains three points.
Definition: AABB.h:85
bool contain(const Vec3f &p) const
Check whether the AABB contains a point.
Definition: AABB.h:107
AABB & expand(const Vec3f &delta)
expand the half size of the AABB by delta, and keep the center unchanged.
Definition: AABB.h:221
FCL_REAL height() const
Height of the AABB.
Definition: AABB.h:182
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.
Vec3f center() const
Center of the AABB.
Definition: AABB.h:170
FCL_REAL size() const
Size of the AABB (used in BV_Splitter to order two AABBs)
Definition: AABB.h:164
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
double FCL_REAL
Definition: data_types.h:66
Main namespace.
Definition: AABB.h:44
request to the collision algorithm
Definition: collision_data.h:210