Struct RSS

• Defined in File RSS.h

Struct Documentation

struct RSS

A class for rectangle sphere-swept bounding volume.

Public Functions

inline RSS()

Default constructor with default values

inline bool operator==(const RSS &other) const

Equality operator.

inline bool operator!=(const RSS &other) const

Difference operator.

bool contain(const Vec3s &p) const

Check whether the RSS contains a point.

bool overlap(const RSS &other) const

Check collision between two RSS.

inline bool overlap(const RSS &other, const CollisionRequest&, CoalScalar &sqrDistLowerBound) const

Not implemented.

CoalScalar distance(const RSS &other, Vec3s *P = NULL, Vec3s *Q = NULL) const

the distance between two RSS; P and Q, if not NULL, return the nearest points

RSS &operator+=(const Vec3s &p)

A simple way to merge the RSS and a point, not compact.

Todo:

This function may have some bug.

inline RSS &operator+=(const RSS &other)

Merge the RSS and another RSS.

RSS operator+(const RSS &other) const

Return the merged RSS of current RSS and the other one.

inline CoalScalar size() const

Size of the RSS (used in BV_Splitter to order two RSSs)

inline const Vec3s &center() const

The RSS center.

inline CoalScalar width() const

Width of the RSS.

inline CoalScalar height() const

Height of the RSS.

inline CoalScalar depth() const

Depth of the RSS.

inline CoalScalar volume() const

Volume of the RSS.

inline bool overlap(const RSS &other, RSS&) const

Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s axes

Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS. We assume that axis[0] corresponds to the axis with the longest length, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.

Vec3s Tr

Origin of the rectangle in RSS.

CoalScalar length[2]

Side lengths of rectangle.

CoalScalar radius

Radius of sphere summed with rectangle to form RSS.