include/hpp/fcl/BV/OBB.h

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#ifndef HPP_FCL_OBB_H
#define HPP_FCL_OBB_H

#include <hpp/fcl/data_types.h>

namespace hpp {
namespace fcl {

struct CollisionRequest;


struct HPP_FCL_DLLAPI OBB {
  Matrix3f axes;

  Vec3f To;

  Vec3f extent;

  OBB() : axes(Matrix3f::Zero()), To(Vec3f::Zero()), extent(Vec3f::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 Vec3f& p) const;

  bool overlap(const OBB& other) const;

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

  FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;

  OBB& operator+=(const Vec3f& p);

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

  OBB operator+(const OBB& other) const;

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

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

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

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

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

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

HPP_FCL_DLLAPI OBB translate(const OBB& bv, const Vec3f& t);

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

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

HPP_FCL_DLLAPI bool obbDisjoint(const Matrix3f& B, const Vec3f& T,
                                const Vec3f& a, const Vec3f& b);
}  // namespace fcl

}  // namespace hpp

#endif