OBB.h

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#ifndef FCL_OBB_H
#define FCL_OBB_H


#include "fcl/math/vec_3f.h"
#include "fcl/math/matrix_3f.h"

namespace fcl
{

class OBB
{
public:
  Vec3f axis[3];

  Vec3f To;
  
  Vec3f extent;

  bool overlap(const OBB& other) const;

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

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

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

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

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

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

  inline const Vec3f& center() const
  {
    return To;
  }


  FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
};


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

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


bool obbDisjoint(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b);
}

#endif