BV/RSS.h

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#ifndef HPP_FCL_RSS_H
#define HPP_FCL_RSS_H

#include <hpp/fcl/data_types.h>
#include <boost/math/constants/constants.hpp>

namespace hpp {
namespace fcl {

struct CollisionRequest;


struct HPP_FCL_DLLAPI RSS {
  Matrix3f axes;

  Vec3f Tr;

  FCL_REAL length[2];

  FCL_REAL radius;

  RSS() : axes(Matrix3f::Zero()), Tr(Vec3f::Zero()), radius(-1) {
    length[0] = 0;
    length[1] = 0;
  }

  bool operator==(const RSS& other) const {
    return axes == other.axes && Tr == other.Tr &&
           length[0] == other.length[0] && length[1] == other.length[1] &&
           radius == other.radius;
  }

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

  bool contain(const Vec3f& p) const;

  bool overlap(const RSS& other) const;

  bool overlap(const RSS& other, const CollisionRequest&,
               FCL_REAL& sqrDistLowerBound) const {
    sqrDistLowerBound = sqrt(-1);
    return overlap(other);
  }

  FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) 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 size() const {
    return (std::sqrt(length[0] * length[0] + length[1] * length[1]) +
            2 * radius);
  }

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

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

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

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

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

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

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

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

HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1,
                            const RSS& b2, const CollisionRequest& request,
                            FCL_REAL& sqrDistLowerBound);

}  // namespace fcl

}  // namespace hpp

#endif