RSS.h File Reference

#include "fcl/math/vec_3f.h"
#include "fcl/math/matrix_3f.h"
#include <boost/math/constants/constants.hpp>

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Classes
class	fcl::RSS
	A class for rectangle sphere-swept bounding volume. More...
Namespaces
namespace	fcl
	Main namespace.
Functions
FCL_REAL	fcl::distance (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
	distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)
bool	fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const RSS &b1, const RSS &b2)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.
RSS	fcl::translate (const RSS &bv, const Vec3f &t)
	Translate the RSS bv.