Struct OBBRSS

Defined in File OBBRSS.h

Struct Documentation

struct OBBRSS

Class merging the OBB and RSS, can handle collision and distance simultaneously.

Public Functions

inline bool operator==(const OBBRSS &other) const: Equality operator.

inline bool operator!=(const OBBRSS &other) const: Difference operator.

inline bool contain(const Vec3s &p) const: Check whether the OBBRSS contains a point.

inline bool overlap(const OBBRSS &other) const: Check collision between two OBBRSS.

inline bool overlap(const OBBRSS &other, const CollisionRequest &request, CoalScalar &sqrDistLowerBound) const

Check collision between two OBBRSS

Return values:: sqrDistLowerBound – squared lower bound on distance between objects if they do not overlap.

inline CoalScalar distance(const OBBRSS &other, Vec3s *P = NULL, Vec3s *Q = NULL) const: Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points.

inline OBBRSS &operator+=(const Vec3s &p): Merge the OBBRSS and a point.

inline OBBRSS &operator+=(const OBBRSS &other): Merge two OBBRSS.

inline OBBRSS operator+(const OBBRSS &other) const: Merge two OBBRSS.

inline CoalScalar size() const: Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)

inline const Vec3s &center() const: Center of the OBBRSS.

inline CoalScalar width() const: Width of the OBRSS.

inline CoalScalar height() const: Height of the OBBRSS.

inline CoalScalar depth() const: Depth of the OBBRSS.

inline CoalScalar volume() const: Volume of the OBBRSS.

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW OBB obb: OBB member, for rotation.

RSS rss: RSS member, for distance.