A class for rectangle sphere-swept bounding volume. More...
#include <RSS.h>
Public Member Functions | |
| const Vec3f & | center () const |
| The RSS center. More... | |
| bool | contain (const Vec3f &p) const |
| Check whether the RSS contains a point. More... | |
| FCL_REAL | depth () const |
| Depth of the RSS. More... | |
| FCL_REAL | distance (const RSS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const |
| the distance between two RSS; P and Q, if not NULL, return the nearest points More... | |
| FCL_REAL | height () const |
| Height of the RSS. More... | |
| bool | operator!= (const RSS &other) const |
| Difference operator. More... | |
| RSS | operator+ (const RSS &other) const |
| Return the merged RSS of current RSS and the other one. More... | |
| RSS & | operator+= (const Vec3f &p) |
| A simple way to merge the RSS and a point, not compact. More... | |
| RSS & | operator+= (const RSS &other) |
| Merge the RSS and another RSS. More... | |
| bool | operator== (const RSS &other) const |
| Equality operator. More... | |
| bool | overlap (const RSS &other) const |
| Check collision between two RSS. More... | |
| bool | overlap (const RSS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const |
| Not implemented. More... | |
| 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. More... | |
| RSS () | |
| . More... | |
| FCL_REAL | size () const |
| Size of the RSS (used in BV_Splitter to order two RSSs) More... | |
| FCL_REAL | volume () const |
| Volume of the RSS. More... | |
| FCL_REAL | width () const |
| Width of the RSS. More... | |
Public Attributes | |
| Matrix3f | 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. More... | |
| FCL_REAL | length [2] |
| Side lengths of rectangle. More... | |
| FCL_REAL | radius |
| Radius of sphere summed with rectangle to form RSS. More... | |
| Vec3f | Tr |
| Origin of the rectangle in RSS. More... | |