coal/BV/RSS.h

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#ifndef COAL_RSS_H
#define COAL_RSS_H
 
#include "coal/data_types.h"
 
#include <boost/math/constants/constants.hpp>
 
namespace coal {
 
struct CollisionRequest;
 
 
struct COAL_DLLAPI RSS {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  Matrix3s axes;
 
  Vec3s Tr;
 
  CoalScalar length[2];
 
  CoalScalar radius;
 
  RSS() : axes(Matrix3s::Zero()), Tr(Vec3s::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 Vec3s& p) const;
 
  bool overlap(const RSS& other) const;
 
  bool overlap(const RSS& other, const CollisionRequest&,
               CoalScalar& sqrDistLowerBound) const {
    sqrDistLowerBound = sqrt(-1);
    return overlap(other);
  }
 
  CoalScalar distance(const RSS& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;
 
  RSS& operator+=(const Vec3s& p);
 
  inline RSS& operator+=(const RSS& other) {
    *this = *this + other;
    return *this;
  }
 
  RSS operator+(const RSS& other) const;
 
  inline CoalScalar size() const {
    return (std::sqrt(length[0] * length[0] + length[1] * length[1]) +
            2 * radius);
  }
 
  inline const Vec3s& center() const { return Tr; }
 
  inline CoalScalar width() const { return length[0] + 2 * radius; }
 
  inline CoalScalar height() const { return length[1] + 2 * radius; }
 
  inline CoalScalar depth() const { return 2 * radius; }
 
  inline CoalScalar volume() const {
    return (length[0] * length[1] * 2 * radius +
            4 * boost::math::constants::pi<CoalScalar>() * radius * radius *
                radius);
  }
 
  bool overlap(const RSS& other, RSS& /*overlap_part*/) const {
    return overlap(other);
  }
};
 
COAL_DLLAPI CoalScalar distance(const Matrix3s& R0, const Vec3s& T0,
                                const RSS& b1, const RSS& b2, Vec3s* P = NULL,
                                Vec3s* Q = NULL);
 
COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
                         const RSS& b2);
 
COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
                         const RSS& b2, const CollisionRequest& request,
                         CoalScalar& sqrDistLowerBound);
 
}  // namespace coal
 
#endif