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obb.h

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#ifndef COLLISION_CHECKING_PQP_H
#define COLLISION_CHECKING_PQP_H

#include "collision_checking/BVH_defs.h"
#include "collision_checking/vec_3f.h"
#include <iostream>
#include <limits>
#include <iostream>

namespace collision_checking
{

class OBB
{
  struct SimpleQuaternion
  {
    SimpleQuaternion();

    SimpleQuaternion(BVH_REAL a, BVH_REAL b, BVH_REAL c, BVH_REAL d);

    void fromRotation(const Vec3f axis[3]);

    void toRotation(Vec3f axis[3]) const;

    BVH_REAL dot(const SimpleQuaternion& other) const;

    SimpleQuaternion operator + (const SimpleQuaternion& other) const;

    SimpleQuaternion operator - () const;

    SimpleQuaternion operator * (BVH_REAL t) const;

  private:
    BVH_REAL data[4];
  };


public:
  Vec3f axis[3]; // R[i] is the ith column of the orientation matrix, or the axis of the OBB

  Vec3f To;
  
  Vec3f extent;

  OBB() {}

  bool overlap(const OBB& other) const;

  bool overlap(const OBB& other, OBB& overlap_part) const
  {
    return overlap(other);
  }

  inline bool contain(const Vec3f& p) const;

  OBB& operator += (const Vec3f& p);

  OBB& operator += (const OBB& other)
  {
     *this = *this + other;
     return *this;
  }

  OBB operator + (const OBB& other) const;

  inline BVH_REAL width() const
  {
    return 2 * extent[0];
  }

  inline BVH_REAL height() const
  {
    return 2 * extent[1];
  }

  inline BVH_REAL depth() const
  {
    return 2 * extent[2];
  }

  inline BVH_REAL volume() const
  {
    return width() * height() * depth();
  }

  inline BVH_REAL size() const
  {
    return extent.sqrLength();
  }

  inline Vec3f center() const
  {
    return To;
  }

  BVH_REAL distance(const OBB& other) const
  {
    std::cerr << "OBB distance not implemented!" << std::endl;
    return 0.0;
  }


private:

  void computeVertices(Vec3f vertex[8]) const;

  static void getCovariance(Vec3f* ps, int n, Vec3f M[3]);

  static void Meigen(Vec3f a[3], BVH_REAL dout[3], Vec3f vout[3]);

  static void getExtentAndCenter(Vec3f* ps, int n, Vec3f axis[3], Vec3f& center, Vec3f& extent);

  static OBB merge_largedist(const OBB& b1, const OBB& b2);

  static OBB merge_smalldist(const OBB& b1, const OBB& b2);

public:
  static bool obbDisjoint(const Vec3f B[3], const Vec3f& T, const Vec3f& a, const Vec3f& b);

};


bool overlap(const Vec3f R0[3], const Vec3f& T0, const OBB& b1, const OBB& b2);

}

#endif

---

collision_checking
Author(s): Jia Pan, Dinesh Manocha (UNC, Chapel Hill)
autogenerated on Fri Mar 1 14:56:47 2013