OBBRSS.h

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#ifndef FCL_OBBRSS_H
#define FCL_OBBRSS_H


#include "fcl/BV/OBB.h"
#include "fcl/BV/RSS.h"

namespace fcl
{


class OBBRSS
{
public:

  OBB obb;

  RSS rss;

  bool overlap(const OBBRSS& other) const
  {
    return obb.overlap(other.obb);
  }

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

  inline bool contain(const Vec3f& p) const
  {
    return obb.contain(p);
  }

  OBBRSS& operator += (const Vec3f& p) 
  {
    obb += p;
    rss += p;
    return *this;
  }

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

  OBBRSS operator + (const OBBRSS& other) const
  {
    OBBRSS result;
    result.obb = obb + other.obb;
    result.rss = rss + other.rss;
    return result;
  }

  inline FCL_REAL width() const
  {
    return obb.width();
  }

  inline FCL_REAL height() const
  {
    return obb.height();
  }

  inline FCL_REAL depth() const
  {
    return obb.depth();
  }

  inline FCL_REAL volume() const
  {
    return obb.volume();
  }

  inline FCL_REAL size() const
  {
    return obb.size();
  }

  inline const Vec3f& center() const
  {
    return obb.center();
  }

  FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const
  {
    return rss.distance(other.rss, P, Q);
  }
};

OBBRSS translate(const OBBRSS& bv, const Vec3f& t);

bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2);

FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL);

}


#endif