Program Listing for File OBB.h

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#ifndef COAL_OBB_H
#define COAL_OBB_H

#include "coal/data_types.h"

namespace coal {

struct CollisionRequest;


struct COAL_DLLAPI OBB {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Matrix3s axes;

  Vec3s To;

  Vec3s extent;

  OBB() : axes(Matrix3s::Zero()), To(Vec3s::Zero()), extent(Vec3s::Zero()) {}

  bool operator==(const OBB& other) const {
    return axes == other.axes && To == other.To && extent == other.extent;
  }

  bool operator!=(const OBB& other) const { return !(*this == other); }

  bool contain(const Vec3s& p) const;

  bool overlap(const OBB& other) const;

  bool overlap(const OBB& other, const CollisionRequest& request,
               CoalScalar& sqrDistLowerBound) const;

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

  OBB& operator+=(const Vec3s& p);

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

  OBB operator+(const OBB& other) const;

  inline CoalScalar size() const { return extent.squaredNorm(); }

  inline const Vec3s& center() const { return To; }

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

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

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

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

COAL_DLLAPI OBB translate(const OBB& bv, const Vec3s& t);

COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1,
                         const OBB& b2);

COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1,
                         const OBB& b2, const CollisionRequest& request,
                         CoalScalar& sqrDistLowerBound);

COAL_DLLAPI bool obbDisjoint(const Matrix3s& B, const Vec3s& T, const Vec3s& a,
                             const Vec3s& b);
}  // namespace coal

#endif