RSS.h

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#ifndef FCL_RSS_H
#define FCL_RSS_H


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

namespace fcl
{

class RSS
{
public:
  Vec3f axis[3];

  Vec3f Tr;

  FCL_REAL l[2];

  FCL_REAL r;

  bool overlap(const RSS& other) const;

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

  inline bool contain(const Vec3f& p) const;

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

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

  RSS operator + (const RSS& other) const;

  inline FCL_REAL width() const
  {
    return l[0] + 2 * r;
  }

  inline FCL_REAL height() const
  {
    return l[1] + 2 * r;
  }

  inline FCL_REAL depth() const
  {
    return 2 * r;
  }

  inline FCL_REAL volume() const
  {
    return (l[0] * l[1] * 2 * r + 4 * boost::math::constants::pi<FCL_REAL>() * r * r * r);
  }

  inline FCL_REAL size() const
  {
    return (std::sqrt(l[0] * l[0] + l[1] * l[1]) + 2 * r);
  }

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

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

};


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

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


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


}


#endif