BV/OBBRSS.h

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#ifndef HPP_FCL_OBBRSS_H
#define HPP_FCL_OBBRSS_H

#include <hpp/fcl/BV/OBB.h>
#include <hpp/fcl/BV/RSS.h>

namespace hpp {
namespace fcl {

struct CollisionRequest;


struct HPP_FCL_DLLAPI OBBRSS {
  OBB obb;

  RSS rss;

  bool operator==(const OBBRSS& other) const {
    return obb == other.obb && rss == other.rss;
  }

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

  inline bool contain(const Vec3f& p) const { return obb.contain(p); }

  bool overlap(const OBBRSS& other) const { return obb.overlap(other.obb); }

  bool overlap(const OBBRSS& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const {
    return obb.overlap(other.obb, request, sqrDistLowerBound);
  }

  FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL,
                    Vec3f* Q = NULL) const {
    return rss.distance(other.rss, P, Q);
  }

  OBBRSS& operator+=(const Vec3f& p) {
    obb += p;
    rss += p;
    return *this;
  }

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

  OBBRSS operator+(const OBBRSS& other) const {
    OBBRSS result;
    result.obb = obb + other.obb;
    result.rss = rss + other.rss;
    return result;
  }

  inline FCL_REAL size() const { return obb.size(); }

  inline const Vec3f& center() const { return obb.center(); }

  inline FCL_REAL width() const { return obb.width(); }

  inline FCL_REAL height() const { return obb.height(); }

  inline FCL_REAL depth() const { return obb.depth(); }

  inline FCL_REAL volume() const { return obb.volume(); }
};

inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                    const OBBRSS& b2) {
  return overlap(R0, T0, b1.obb, b2.obb);
}

inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                    const OBBRSS& b2, const CollisionRequest& request,
                    FCL_REAL& sqrDistLowerBound) {
  return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
}

inline FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                         const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL) {
  return distance(R0, T0, b1.rss, b2.rss, P, Q);
}

}  // namespace fcl

}  // namespace hpp

#endif