Classes of different types of bounding volume. More...

Classes
class	coal::AABB
	A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points. More...

class	coal::KDOP< N >
	KDOP class describes the KDOP collision structures. K is set as the template parameter, which should be 16, 18, or 24 The KDOP structure is defined by some pairs of parallel planes defined by some axes. For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 8 (0,-1,0) and (0,1,0) -> indices 1 and 9 (0,0,-1) and (0,0,1) -> indices 2 and 10 (-1,-1,0) and (1,1,0) -> indices 3 and 11 (-1,0,-1) and (1,0,1) -> indices 4 and 12 (0,-1,-1) and (0,1,1) -> indices 5 and 13 (-1,1,0) and (1,-1,0) -> indices 6 and 14 (-1,0,1) and (1,0,-1) -> indices 7 and 15 For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 9 (0,-1,0) and (0,1,0) -> indices 1 and 10 (0,0,-1) and (0,0,1) -> indices 2 and 11 (-1,-1,0) and (1,1,0) -> indices 3 and 12 (-1,0,-1) and (1,0,1) -> indices 4 and 13 (0,-1,-1) and (0,1,1) -> indices 5 and 14 (-1,1,0) and (1,-1,0) -> indices 6 and 15 (-1,0,1) and (1,0,-1) -> indices 7 and 16 (0,-1,1) and (0,1,-1) -> indices 8 and 17 For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off some space of the edges: (-1,0,0) and (1,0,0) -> indices 0 and 12 (0,-1,0) and (0,1,0) -> indices 1 and 13 (0,0,-1) and (0,0,1) -> indices 2 and 14 (-1,-1,0) and (1,1,0) -> indices 3 and 15 (-1,0,-1) and (1,0,1) -> indices 4 and 16 (0,-1,-1) and (0,1,1) -> indices 5 and 17 (-1,1,0) and (1,-1,0) -> indices 6 and 18 (-1,0,1) and (1,0,-1) -> indices 7 and 19 (0,-1,1) and (0,1,-1) -> indices 8 and 20 (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21 (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22 (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23. More...

class	coal::kIOS
	A class describing the kIOS collision structure, which is a set of spheres. More...

struct	coal::kIOS::kIOS_Sphere
	One sphere in kIOS. More...

struct	coal::OBB
	Oriented bounding box class. More...

struct	coal::OBBRSS
	Class merging the OBB and RSS, can handle collision and distance simultaneously. More...

struct	coal::RSS
	A class for rectangle sphere-swept bounding volume. More...

Functions
	coal::AABB::AABB ()
	Creating an AABB with zero size (low bound +inf, upper bound -inf) More...

	coal::AABB::AABB (const AABB &core, const Vec3s &delta)
	Creating an AABB centered as core and is of half-dimension delta. More...

	coal::AABB::AABB (const AABB &other)=default

	coal::AABB::AABB (const Vec3s &a, const Vec3s &b)
	Creating an AABB with two endpoints a and b. More...

	coal::AABB::AABB (const Vec3s &a, const Vec3s &b, const Vec3s &c)
	Creating an AABB contains three points. More...

	coal::AABB::AABB (const Vec3s &v)
	Creating an AABB at position v with zero size. More...

bool	coal::AABB::axisOverlap (const AABB &other, int axis_id) const
	Check whether two AABB are overlapped along specific axis. More...

const Vec3s &	coal::OBB::center () const
	Center of the OBB. More...

const Vec3s &	coal::OBBRSS::center () const
	Center of the OBBRSS. More...

const Vec3s &	coal::RSS::center () const
	The RSS center. More...

Vec3s	coal::KDOP< N >::center () const
	The (AABB) center. More...

const Vec3s &	coal::kIOS::center () const
	Center of the kIOS. More...

bool	coal::AABB::contain (const AABB &other) const
	Check whether the AABB contains another AABB. More...

bool	coal::OBBRSS::contain (const Vec3s &p) const
	Check whether the OBBRSS contains a point. More...

bool	coal::OBB::contain (const Vec3s &p) const
	Check whether the OBB contains a point. More...

bool	coal::RSS::contain (const Vec3s &p) const
	Check whether the RSS contains a point. More...

bool	coal::kIOS::contain (const Vec3s &p) const
	Check whether the kIOS contains a point. More...

CoalScalar	coal::OBB::depth () const
	Depth of the OBB. More...

CoalScalar	coal::OBBRSS::depth () const
	Depth of the OBBRSS. More...

CoalScalar	coal::RSS::depth () const
	Depth of the RSS. More...

CoalScalar	coal::KDOP< N >::depth () const
	The (AABB) depth. More...

CoalScalar	coal::kIOS::depth () const
	Depth of the kIOS. More...

CoalScalar &	coal::KDOP< N >::dist (short i)

CoalScalar	coal::KDOP< N >::dist (short i) const

CoalScalar	coal::KDOP< N >::distance (const KDOP< N > &other, Vec3s P=NULL, Vec3s Q=NULL) const
	The distance between two KDOP<N>. Not implemented. More...

CoalScalar	coal::kIOS::distance (const kIOS &other, Vec3s P=NULL, Vec3s Q=NULL) const
	The distance between two kIOS. More...

COAL_DLLAPI CoalScalar	coal::distance (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, Vec3s P=NULL, Vec3s Q=NULL)
	Approximate distance between two kIOS bounding volumes. More...

CoalScalar	coal::distance (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2, Vec3s P=NULL, Vec3s Q=NULL)
	Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points. More...

COAL_DLLAPI CoalScalar	coal::distance (const Matrix3s &R0, const Vec3s &T0, const RSS &b1, const RSS &b2, Vec3s P=NULL, Vec3s Q=NULL)
	distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1) More...

CoalScalar	coal::OBB::distance (const OBB &other, Vec3s P=NULL, Vec3s Q=NULL) const
	Distance between two OBBs, not implemented. More...

CoalScalar	coal::OBBRSS::distance (const OBBRSS &other, Vec3s P=NULL, Vec3s Q=NULL) const
	Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points. More...

CoalScalar	coal::RSS::distance (const RSS &other, Vec3s P=NULL, Vec3s Q=NULL) const
	the distance between two RSS; P and Q, if not NULL, return the nearest points More...

static kIOS_Sphere	coal::kIOS::encloseSphere (const kIOS_Sphere &s0, const kIOS_Sphere &s1)
	generate one sphere enclosing two spheres More...

AABB &	coal::AABB::expand (const AABB &core, CoalScalar ratio)
	expand the aabb by increase the thickness of the plate by a ratio More...

AABB &	coal::AABB::expand (const CoalScalar delta)
	expand the half size of the AABB by a scalar delta, and keep the center unchanged. More...

AABB &	coal::AABB::expand (const Vec3s &delta)
	expand the half size of the AABB by delta, and keep the center unchanged. More...

CoalScalar	coal::OBB::height () const
	Height of the OBB. More...

CoalScalar	coal::OBBRSS::height () const
	Height of the OBBRSS. More...

CoalScalar	coal::RSS::height () const
	Height of the RSS. More...

CoalScalar	coal::KDOP< N >::height () const
	The (AABB) height. More...

CoalScalar	coal::kIOS::height () const
	Height of the kIOS. More...

bool	coal::KDOP< N >::inside (const Vec3s &p) const

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	coal::KDOP< N >::KDOP ()
	Creating kDOP containing nothing. More...

	coal::KDOP< N >::KDOP (const Vec3s &a, const Vec3s &b)
	Creating kDOP containing two points. More...

	coal::KDOP< N >::KDOP (const Vec3s &v)
	Creating kDOP containing only one point. More...

	coal::OBB::OBB ()

COAL_DLLAPI bool	coal::obbDisjoint (const Matrix3s &B, const Vec3s &T, const Vec3s &a, const Vec3s &b)

bool	coal::AABB::operator!= (const AABB &other) const

bool	coal::KDOP< N >::operator!= (const KDOP &other) const
	Difference operator. More...

bool	coal::kIOS::operator!= (const kIOS &other) const
	Difference operator. More...

bool	coal::kIOS::kIOS_Sphere::operator!= (const kIOS_Sphere &other) const

bool	coal::OBB::operator!= (const OBB &other) const
	Difference operator. More...

bool	coal::OBBRSS::operator!= (const OBBRSS &other) const
	Difference operator. More...

bool	coal::RSS::operator!= (const RSS &other) const
	Difference operator. More...

KDOP< N >	coal::KDOP< N >::operator+ (const KDOP< N > &other) const
	Create a KDOP by mergin two KDOPs. More...

kIOS	coal::kIOS::operator+ (const kIOS &other) const
	Return the merged kIOS of current kIOS and the other one. More...

OBB	coal::OBB::operator+ (const OBB &other) const
	Return the merged OBB of current OBB and the other one (the result is not compact). More...

OBBRSS	coal::OBBRSS::operator+ (const OBBRSS &other) const
	Merge two OBBRSS. More...

RSS	coal::RSS::operator+ (const RSS &other) const
	Return the merged RSS of current RSS and the other one. More...

KDOP< N > &	coal::KDOP< N >::operator+= (const KDOP< N > &other)
	Merge two KDOPs. More...

kIOS &	coal::kIOS::operator+= (const kIOS &other)
	Merge the kIOS and another kIOS. More...

OBB &	coal::OBB::operator+= (const OBB &other)
	Merge the OBB and another OBB (the result is not compact). More...

OBBRSS &	coal::OBBRSS::operator+= (const OBBRSS &other)
	Merge two OBBRSS. More...

RSS &	coal::RSS::operator+= (const RSS &other)
	Merge the RSS and another RSS. More...

OBBRSS &	coal::OBBRSS::operator+= (const Vec3s &p)
	Merge the OBBRSS and a point. More...

OBB &	coal::OBB::operator+= (const Vec3s &p)
	A simple way to merge the OBB and a point (the result is not compact). More...

RSS &	coal::RSS::operator+= (const Vec3s &p)
	A simple way to merge the RSS and a point, not compact. More...

KDOP< N > &	coal::KDOP< N >::operator+= (const Vec3s &p)
	Merge the point and the KDOP. More...

kIOS &	coal::kIOS::operator+= (const Vec3s &p)
	A simple way to merge the kIOS and a point. More...

AABB &	coal::AABB::operator= (const AABB &other)=default

bool	coal::AABB::operator== (const AABB &other) const
	Comparison operator. More...

bool	coal::KDOP< N >::operator== (const KDOP &other) const
	Equality operator. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool	coal::kIOS::operator== (const kIOS &other) const
	Equality operator. More...

bool	coal::kIOS::kIOS_Sphere::operator== (const kIOS_Sphere &other) const

bool	coal::OBB::operator== (const OBB &other) const
	Equality operator. More...

bool	coal::OBBRSS::operator== (const OBBRSS &other) const
	Equality operator. More...

bool	coal::RSS::operator== (const RSS &other) const
	Equality operator. More...

bool	coal::AABB::overlap (const AABB &other, AABB &overlap_part) const
	Check whether two AABB are overlap and return the overlap part. More...

bool	coal::KDOP< N >::overlap (const KDOP< N > &other) const
	Check whether two KDOPs overlap. More...

bool	coal::KDOP< N >::overlap (const KDOP< N > &other, const CollisionRequest &request, CoalScalar &sqrDistLowerBound) const
	Check whether two KDOPs overlap. More...

bool	coal::kIOS::overlap (const kIOS &other) const
	Check collision between two kIOS. More...

bool	coal::kIOS::overlap (const kIOS &other, const CollisionRequest &, CoalScalar &sqrDistLowerBound) const
	Check collision between two kIOS. More...

template<short N>
bool	coal::overlap (const Matrix3s &, const Vec3s &, const KDOP< N > &, const KDOP< N > &)

template<short N>
bool	coal::overlap (const Matrix3s &, const Vec3s &, const KDOP< N > &, const KDOP< N > &, const CollisionRequest &, CoalScalar &)

COAL_DLLAPI bool	coal::overlap (const Matrix3s &R0, const Vec3s &T0, const AABB &b1, const AABB &b2)
	Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	coal::overlap (const Matrix3s &R0, const Vec3s &T0, const AABB &b1, const AABB &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)
	Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	coal::overlap (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	coal::overlap (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)
	Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	coal::overlap (const Matrix3s &R0, const Vec3s &T0, const OBB &b1, const OBB &b2)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	coal::overlap (const Matrix3s &R0, const Vec3s &T0, const OBB &b1, const OBB &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)
	Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity. More...

bool	coal::overlap (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2)
	Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity. More...

bool	coal::overlap (const Matrix3s &R0, const Vec3s &T0, const OBBRSS &b1, const OBBRSS &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)

COAL_DLLAPI bool	coal::overlap (const Matrix3s &R0, const Vec3s &T0, const RSS &b1, const RSS &b2)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

COAL_DLLAPI bool	coal::overlap (const Matrix3s &R0, const Vec3s &T0, const RSS &b1, const RSS &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)
	Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity. More...

bool	coal::OBB::overlap (const OBB &other) const

bool	coal::OBB::overlap (const OBB &other, const CollisionRequest &request, CoalScalar &sqrDistLowerBound) const

bool	coal::OBBRSS::overlap (const OBBRSS &other) const
	Check collision between two OBBRSS. More...

bool	coal::OBBRSS::overlap (const OBBRSS &other, const CollisionRequest &request, CoalScalar &sqrDistLowerBound) const

bool	coal::RSS::overlap (const RSS &other) const
	Check collision between two RSS. More...

bool	coal::RSS::overlap (const RSS &other, const CollisionRequest &, CoalScalar &sqrDistLowerBound) const
	Not implemented. More...

bool	coal::RSS::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...

static AABB	coal::rotate (const AABB &aabb, const Matrix3s &R)

	coal::RSS::RSS ()
	More...

CoalScalar	coal::OBB::size () const
	Size of the OBB (used in BV_Splitter to order two OBBs) More...

CoalScalar	coal::OBBRSS::size () const
	Size of the OBBRSS (used in BV_Splitter to order two OBBRSS) More...

CoalScalar	coal::RSS::size () const
	Size of the RSS (used in BV_Splitter to order two RSSs) More...

CoalScalar	coal::KDOP< N >::size () const
	Size of the kDOP (used in BV_Splitter to order two kDOPs) More...

CoalScalar	coal::kIOS::size () const
	size of the kIOS (used in BV_Splitter to order two kIOSs) More...

static AABB	coal::translate (const AABB &aabb, const Vec3s &t)
	translate the center of AABB by t More...

template<short N>
COAL_DLLAPI KDOP< N >	coal::translate (const KDOP< N > &bv, const Vec3s &t)
	translate the KDOP BV More...

COAL_DLLAPI kIOS	coal::translate (const kIOS &bv, const Vec3s &t)
	Translate the kIOS BV. More...

COAL_DLLAPI OBB	coal::translate (const OBB &bv, const Vec3s &t)
	Translate the OBB bv. More...

AABB &	coal::AABB::update (const Vec3s &a, const Vec3s &b)

CoalScalar	coal::OBB::volume () const
	Volume of the OBB. More...

CoalScalar	coal::OBBRSS::volume () const
	Volume of the OBBRSS. More...

CoalScalar	coal::RSS::volume () const
	Volume of the RSS. More...

CoalScalar	coal::KDOP< N >::volume () const
	The (AABB) volume. More...

CoalScalar	coal::kIOS::volume () const
	Volume of the kIOS. More...

CoalScalar	coal::OBB::width () const
	Width of the OBB. More...

CoalScalar	coal::OBBRSS::width () const
	Width of the OBRSS. More...

CoalScalar	coal::RSS::width () const
	Width of the RSS. More...

CoalScalar	coal::KDOP< N >::width () const
	The (AABB) width. More...

CoalScalar	coal::kIOS::width () const
	Width of the kIOS. More...

Variables
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s	coal::OBB::axes
	Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i-th principle direction of the box. We assume that axis[0] corresponds to the axis with the longest box edge, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s	coal::RSS::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...

Eigen::Array< CoalScalar, N, 1 >	coal::KDOP< N >::dist_
	Origin's distances to N KDOP planes. More...

Vec3s	coal::OBB::extent
	Half dimensions of OBB. More...

CoalScalar	coal::RSS::length [2]
	Side lengths of rectangle. More...

Vec3s	coal::AABB::max_
	The max point in the AABB. More...

static constexpr size_t	coal::kIOS::max_num_spheres = 5

Vec3s	coal::AABB::min_
	The min point in the AABB. More...

unsigned int	coal::kIOS::num_spheres
	The number of spheres, no larger than 5. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vec3s	coal::kIOS::kIOS_Sphere::o

EIGEN_MAKE_ALIGNED_OPERATOR_NEW OBB	coal::OBBRSS::obb
	OBB member, for rotation. More...

OBB	coal::kIOS::obb
	@ OBB related with kIOS More...

CoalScalar	coal::kIOS::kIOS_Sphere::r

CoalScalar	coal::RSS::radius
	Radius of sphere summed with rectangle to form RSS. More...

RSS	coal::OBBRSS::rss
	RSS member, for distance. More...

kIOS_Sphere	coal::kIOS::spheres [max_num_spheres]
	The (at most) five spheres for intersection. More...

Vec3s	coal::OBB::To
	Center of OBB. More...

Vec3s	coal::RSS::Tr
	Origin of the rectangle in RSS. More...

Bounding volume API
Common API to BVs.
bool	coal::AABB::contain (const Vec3s &p) const
	Check whether the AABB contains a point. More...

bool	coal::AABB::overlap (const AABB &other) const
	Check whether two AABB are overlap. More...

bool	coal::AABB::overlap (const Plane &p) const
	Check whether AABB overlaps a plane. More...

bool	coal::AABB::overlap (const Halfspace &hs) const
	Check whether AABB overlaps a halfspace. More...

bool	coal::AABB::overlap (const AABB &other, const CollisionRequest &request, CoalScalar &sqrDistLowerBound) const
	Check whether two AABB are overlap. More...

CoalScalar	coal::AABB::distance (const AABB &other) const
	Distance between two AABBs. More...

CoalScalar	coal::AABB::distance (const AABB &other, Vec3s P, Vec3s Q) const
	Distance between two AABBs; P and Q, should not be NULL, return the nearest points. More...

AABB &	coal::AABB::operator+= (const Vec3s &p)
	Merge the AABB and a point. More...

AABB &	coal::AABB::operator+= (const AABB &other)
	Merge the AABB and another AABB. More...

AABB	coal::AABB::operator+ (const AABB &other) const
	Return the merged AABB of current AABB and the other one. More...

CoalScalar	coal::AABB::size () const
	Size of the AABB (used in BV_Splitter to order two AABBs) More...

Vec3s	coal::AABB::center () const
	Center of the AABB. More...

CoalScalar	coal::AABB::width () const
	Width of the AABB. More...

CoalScalar	coal::AABB::height () const
	Height of the AABB. More...

CoalScalar	coal::AABB::depth () const
	Depth of the AABB. More...

CoalScalar	coal::AABB::volume () const
	Volume of the AABB. More...

Detailed Description

Classes of different types of bounding volume.

Function Documentation

◆ AABB() [1/6]

coal::AABB::AABB ( )

Creating an AABB with zero size (low bound +inf, upper bound -inf)

Definition at line 46 of file AABB.cpp.

◆ AABB() [2/6]

coal::AABB::AABB	(	const AABB &	core,
		const Vec3s &	delta
	)

inline

Creating an AABB centered as core and is of half-dimension delta.

Definition at line 73 of file coal/BV/AABB.h.

◆ AABB() [3/6]

coal::AABB::AABB ( const AABB & other )

default

◆ AABB() [4/6]

coal::AABB::AABB	(	const Vec3s &	a,
		const Vec3s &	b
	)

inline

Creating an AABB with two endpoints a and b.

Definition at line 69 of file coal/BV/AABB.h.

◆ AABB() [5/6]

coal::AABB::AABB	(	const Vec3s &	a,
		const Vec3s &	b,
		const Vec3s &	c
	)

inline

Creating an AABB contains three points.

Definition at line 77 of file coal/BV/AABB.h.

◆ AABB() [6/6]

coal::AABB::AABB ( const Vec3s & v )

inline

Creating an AABB at position v with zero size.

Definition at line 66 of file coal/BV/AABB.h.

◆ axisOverlap()

bool coal::AABB::axisOverlap	(	const AABB &	other,
		int	axis_id
	)		const

inline

Check whether two AABB are overlapped along specific axis.

Definition at line 199 of file coal/BV/AABB.h.

◆ center() [1/6]

const Vec3s& coal::OBB::center ( ) const

inline

Center of the OBB.

Definition at line 112 of file include/coal/BV/OBB.h.

◆ center() [2/6]

const Vec3s& coal::OBBRSS::center ( ) const

inline

Center of the OBBRSS.

Definition at line 116 of file coal/BV/OBBRSS.h.

◆ center() [3/6]

const Vec3s& coal::RSS::center ( ) const

inline

The RSS center.

Definition at line 125 of file coal/BV/RSS.h.

◆ center() [4/6]

template<short N>

Vec3s coal::KDOP< N >::center ( ) const

inline

The (AABB) center.

Definition at line 147 of file coal/BV/kDOP.h.

◆ center() [5/6]

const Vec3s& coal::kIOS::center ( ) const

inline

Center of the kIOS.

Definition at line 154 of file coal/BV/kIOS.h.

◆ center() [6/6]

Vec3s coal::AABB::center ( ) const

inline

Center of the AABB.

Definition at line 164 of file coal/BV/AABB.h.

◆ contain() [1/6]

bool coal::AABB::contain ( const AABB & other ) const

inline

Check whether the AABB contains another AABB.

Definition at line 181 of file coal/BV/AABB.h.

◆ contain() [2/6]

bool coal::OBBRSS::contain ( const Vec3s & p ) const

inline

Check whether the OBBRSS contains a point.

Definition at line 71 of file coal/BV/OBBRSS.h.

◆ contain() [3/6]

bool coal::OBB::contain ( const Vec3s & p ) const

Check whether the OBB contains a point.

Definition at line 424 of file OBB.cpp.

◆ contain() [4/6]

bool coal::RSS::contain ( const Vec3s & p ) const

Check whether the RSS contains a point.

projection is within the rectangle

Definition at line 762 of file RSS.cpp.

◆ contain() [5/6]

bool coal::AABB::contain ( const Vec3s & p ) const

inline

Check whether the AABB contains a point.

Definition at line 102 of file coal/BV/AABB.h.

◆ contain() [6/6]

bool coal::kIOS::contain ( const Vec3s & p ) const

Check whether the kIOS contains a point.

Definition at line 76 of file kIOS.cpp.

◆ depth() [1/6]

CoalScalar coal::OBB::depth ( ) const

inline

Depth of the OBB.

Definition at line 121 of file include/coal/BV/OBB.h.

◆ depth() [2/6]

CoalScalar coal::OBBRSS::depth ( ) const

inline

Depth of the OBBRSS.

Definition at line 125 of file coal/BV/OBBRSS.h.

◆ depth() [3/6]

CoalScalar coal::RSS::depth ( ) const

inline

Depth of the RSS.

Definition at line 134 of file coal/BV/RSS.h.

◆ depth() [4/6]

template<short N>

CoalScalar coal::KDOP< N >::depth ( ) const

inline

The (AABB) depth.

Definition at line 158 of file coal/BV/kDOP.h.

◆ depth() [5/6]

CoalScalar coal::kIOS::depth ( ) const

Depth of the kIOS.

Definition at line 116 of file kIOS.cpp.

◆ depth() [6/6]

CoalScalar coal::AABB::depth ( ) const

inline

Depth of the AABB.

Definition at line 173 of file coal/BV/AABB.h.

◆ dist() [1/2]

template<short N>

CoalScalar& coal::KDOP< N >::dist ( short i )

inline

Definition at line 165 of file coal/BV/kDOP.h.

◆ dist() [2/2]

template<short N>

CoalScalar coal::KDOP< N >::dist ( short i ) const

inline

Definition at line 163 of file coal/BV/kDOP.h.

◆ distance() [1/10]

CoalScalar coal::AABB::distance ( const AABB & other ) const

Distance between two AABBs.

Definition at line 114 of file AABB.cpp.

◆ distance() [2/10]

CoalScalar coal::AABB::distance	(	const AABB &	other,
		Vec3s *	P,
		Vec3s *	Q
	)		const

Distance between two AABBs; P and Q, should not be NULL, return the nearest points.

Definition at line 74 of file AABB.cpp.

◆ distance() [3/10]

template<short N>

CoalScalar coal::KDOP< N >::distance	(	const KDOP< N > &	other,
		Vec3s *	P = `NULL`,
		Vec3s *	Q = `NULL`
	)		const

The distance between two KDOP<N>. Not implemented.

Definition at line 216 of file kDOP.cpp.

◆ distance() [4/10]

CoalScalar coal::kIOS::distance	(	const kIOS &	other,
		Vec3s *	P = `NULL`,
		Vec3s *	Q = `NULL`
	)		const

The distance between two kIOS.

Definition at line 122 of file kIOS.cpp.

◆ distance() [5/10]

CoalScalar coal::distance	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const kIOS &	b1,
		const kIOS &	b2,
		Vec3s *	P = `NULL`,
		Vec3s *	Q = `NULL`
	)

Approximate distance between two kIOS bounding volumes.

Todo:: P and Q is not returned, need implementation

Definition at line 180 of file kIOS.cpp.

◆ distance() [6/10]

CoalScalar coal::distance	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const OBBRSS &	b1,
		const OBBRSS &	b2,
		Vec3s *	P = `NULL`,
		Vec3s *	Q = `NULL`
	)

inline

Computate distance between two OBBRSS, b1 is in configuation (R0, T0) and b2 is in indentity; P and Q, is not NULL, returns the nearest points.

Definition at line 152 of file coal/BV/OBBRSS.h.

◆ distance() [7/10]

CoalScalar coal::distance	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const RSS &	b1,
		const RSS &	b2,
		Vec3s *	P = `NULL`,
		Vec3s *	Q = `NULL`
	)

distance between two RSS bounding volumes P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)

Definition at line 994 of file RSS.cpp.

◆ distance() [8/10]

CoalScalar coal::OBB::distance	(	const OBB &	other,
		Vec3s *	P = `NULL`,
		Vec3s *	Q = `NULL`
	)		const

Distance between two OBBs, not implemented.

Definition at line 460 of file OBB.cpp.

◆ distance() [9/10]

CoalScalar coal::OBBRSS::distance	(	const OBBRSS &	other,
		Vec3s *	P = `NULL`,
		Vec3s *	Q = `NULL`
	)		const

inline

Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points.

Definition at line 86 of file coal/BV/OBBRSS.h.

◆ distance() [10/10]

CoalScalar coal::RSS::distance	(	const RSS &	other,
		Vec3s *	P = `NULL`,
		Vec3s *	Q = `NULL`
	)		const

the distance between two RSS; P and Q, if not NULL, return the nearest points

Definition at line 982 of file RSS.cpp.

◆ encloseSphere()

static kIOS_Sphere coal::kIOS::encloseSphere	(	const kIOS_Sphere &	s0,
		const kIOS_Sphere &	s1
	)

inlinestaticprivate

generate one sphere enclosing two spheres

The sphere with the larger radius encloses the other

spheres partially overlapping or disjoint

Definition at line 70 of file coal/BV/kIOS.h.

◆ expand() [1/3]

AABB& coal::AABB::expand	(	const AABB &	core,
		CoalScalar	ratio
	)

inline

expand the aabb by increase the thickness of the plate by a ratio

Definition at line 223 of file coal/BV/AABB.h.

◆ expand() [2/3]

AABB& coal::AABB::expand ( const CoalScalar delta )

inline

expand the half size of the AABB by a scalar delta, and keep the center unchanged.

Definition at line 216 of file coal/BV/AABB.h.

◆ expand() [3/3]

AABB& coal::AABB::expand ( const Vec3s & delta )

inline

expand the half size of the AABB by delta, and keep the center unchanged.

Definition at line 208 of file coal/BV/AABB.h.

◆ height() [1/6]

CoalScalar coal::OBB::height ( ) const

inline

Height of the OBB.

Definition at line 118 of file include/coal/BV/OBB.h.

◆ height() [2/6]

CoalScalar coal::OBBRSS::height ( ) const

inline

Height of the OBBRSS.

Definition at line 122 of file coal/BV/OBBRSS.h.

◆ height() [3/6]

CoalScalar coal::RSS::height ( ) const

inline

Height of the RSS.

Definition at line 131 of file coal/BV/RSS.h.

◆ height() [4/6]

template<short N>

CoalScalar coal::KDOP< N >::height ( ) const

inline

The (AABB) height.

Definition at line 155 of file coal/BV/kDOP.h.

◆ height() [5/6]

CoalScalar coal::kIOS::height ( ) const

Height of the kIOS.

Definition at line 114 of file kIOS.cpp.

◆ height() [6/6]

CoalScalar coal::AABB::height ( ) const

inline

Height of the AABB.

Definition at line 170 of file coal/BV/AABB.h.

◆ inside()

template<short N>

bool coal::KDOP< N >::inside ( const Vec3s & p ) const

Definition at line 171 of file kDOP.cpp.

◆ KDOP() [1/3]

template<short N>

coal::KDOP< N >::KDOP

Creating kDOP containing nothing.

Definition at line 102 of file kDOP.cpp.

◆ KDOP() [2/3]

template<short N>

coal::KDOP< N >::KDOP	(	const Vec3s &	a,
		const Vec3s &	b
	)

Creating kDOP containing two points.

Definition at line 122 of file kDOP.cpp.

◆ KDOP() [3/3]

template<short N>

coal::KDOP< N >::KDOP ( const Vec3s & v )

Creating kDOP containing only one point.

Definition at line 109 of file kDOP.cpp.

◆ OBB()

coal::OBB::OBB ( )

inline

Definition at line 67 of file include/coal/BV/OBB.h.

◆ obbDisjoint()

bool coal::obbDisjoint	(	const Matrix3s &	B,
		const Vec3s &	T,
		const Vec3s &	a,
		const Vec3s &	b
	)

Check collision between two boxes

Parameters

B,T	orientation and position of first box,
a	half dimensions of first box,
b	half dimensions of second box. The second box is in identity configuration.

Definition at line 161 of file OBB.cpp.

◆ operator!=() [1/7]

bool coal::AABB::operator!= ( const AABB & other ) const

inline

Definition at line 95 of file coal/BV/AABB.h.

◆ operator!=() [2/7]

template<short N>

bool coal::KDOP< N >::operator!= ( const KDOP< N > & other ) const

inline

Difference operator.

Definition at line 114 of file coal/BV/kDOP.h.

◆ operator!=() [3/7]

bool coal::kIOS::operator!= ( const kIOS & other ) const

inline

Difference operator.

Definition at line 111 of file coal/BV/kIOS.h.

◆ operator!=() [4/7]

bool coal::kIOS::kIOS_Sphere::operator!= ( const kIOS_Sphere & other ) const

inline

Definition at line 64 of file coal/BV/kIOS.h.

◆ operator!=() [5/7]

bool coal::OBB::operator!= ( const OBB & other ) const

inline

Difference operator.

Definition at line 75 of file include/coal/BV/OBB.h.

◆ operator!=() [6/7]

bool coal::OBBRSS::operator!= ( const OBBRSS & other ) const

inline

Difference operator.

Definition at line 68 of file coal/BV/OBBRSS.h.

◆ operator!=() [7/7]

bool coal::RSS::operator!= ( const RSS & other ) const

inline

Difference operator.

Definition at line 86 of file coal/BV/RSS.h.

◆ operator+() [1/6]

AABB coal::AABB::operator+ ( const AABB & other ) const

inline

Return the merged AABB of current AABB and the other one.

Definition at line 155 of file coal/BV/AABB.h.

◆ operator+() [2/6]

template<short N>

KDOP< N > coal::KDOP< N >::operator+ ( const KDOP< N > & other ) const

Create a KDOP by mergin two KDOPs.

Definition at line 210 of file kDOP.cpp.

◆ operator+() [3/6]

kIOS coal::kIOS::operator+ ( const kIOS & other ) const

Return the merged kIOS of current kIOS and the other one.

Definition at line 98 of file kIOS.cpp.

◆ operator+() [4/6]

OBB coal::OBB::operator+ ( const OBB & other ) const

Return the merged OBB of current OBB and the other one (the result is not compact).

Definition at line 448 of file OBB.cpp.

◆ operator+() [5/6]

OBBRSS coal::OBBRSS::operator+ ( const OBBRSS & other ) const

inline

Merge two OBBRSS.

Definition at line 105 of file coal/BV/OBBRSS.h.

◆ operator+() [6/6]

RSS coal::RSS::operator+ ( const RSS & other ) const

Return the merged RSS of current RSS and the other one.

Definition at line 907 of file RSS.cpp.

◆ operator+=() [1/12]

AABB& coal::AABB::operator+= ( const AABB & other )

inline

Merge the AABB and another AABB.

Definition at line 148 of file coal/BV/AABB.h.

◆ operator+=() [2/12]

template<short N>

KDOP< N > & coal::KDOP< N >::operator+= ( const KDOP< N > & other )

Merge two KDOPs.

Definition at line 201 of file kDOP.cpp.

◆ operator+=() [3/12]

kIOS& coal::kIOS::operator+= ( const kIOS & other )

inline

Merge the kIOS and another kIOS.

Definition at line 142 of file coal/BV/kIOS.h.

◆ operator+=() [4/12]

OBB& coal::OBB::operator+= ( const OBB & other )

inline

Merge the OBB and another OBB (the result is not compact).

Definition at line 99 of file include/coal/BV/OBB.h.

◆ operator+=() [5/12]

OBBRSS& coal::OBBRSS::operator+= ( const OBBRSS & other )

inline

Merge two OBBRSS.

Definition at line 99 of file coal/BV/OBBRSS.h.

◆ operator+=() [6/12]

RSS& coal::RSS::operator+= ( const RSS & other )

inline

Merge the RSS and another RSS.

Definition at line 110 of file coal/BV/RSS.h.

◆ operator+=() [7/12]

OBBRSS& coal::OBBRSS::operator+= ( const Vec3s & p )

inline

Merge the OBBRSS and a point.

Definition at line 92 of file coal/BV/OBBRSS.h.

◆ operator+=() [8/12]

OBB & coal::OBB::operator+= ( const Vec3s & p )

A simple way to merge the OBB and a point (the result is not compact).

Definition at line 438 of file OBB.cpp.

◆ operator+=() [9/12]

RSS & coal::RSS::operator+= ( const Vec3s & p )

A simple way to merge the RSS and a point, not compact.

Todo:: This function may have some bug.

Definition at line 793 of file RSS.cpp.

◆ operator+=() [10/12]

template<short N>

KDOP< N > & coal::KDOP< N >::operator+= ( const Vec3s & p )

Merge the point and the KDOP.

Definition at line 186 of file kDOP.cpp.

◆ operator+=() [11/12]

kIOS & coal::kIOS::operator+= ( const Vec3s & p )

A simple way to merge the kIOS and a point.

Definition at line 85 of file kIOS.cpp.

◆ operator+=() [12/12]

AABB& coal::AABB::operator+= ( const Vec3s & p )

inline

Merge the AABB and a point.

Definition at line 141 of file coal/BV/AABB.h.

◆ operator=()

AABB& coal::AABB::operator= ( const AABB & other )

default

◆ operator==() [1/7]

bool coal::AABB::operator== ( const AABB & other ) const

inline

Comparison operator.

Definition at line 91 of file coal/BV/AABB.h.

◆ operator==() [2/7]

template<short N>

bool coal::KDOP< N >::operator== ( const KDOP< N > & other ) const

inline

Equality operator.

Definition at line 109 of file coal/BV/kDOP.h.

◆ operator==() [3/7]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool coal::kIOS::operator== ( const kIOS & other ) const

inline

Equality operator.

Definition at line 99 of file coal/BV/kIOS.h.

◆ operator==() [4/7]

bool coal::kIOS::kIOS_Sphere::operator== ( const kIOS_Sphere & other ) const

inline

Definition at line 60 of file coal/BV/kIOS.h.

◆ operator==() [5/7]

bool coal::OBB::operator== ( const OBB & other ) const

inline

Equality operator.

Definition at line 70 of file include/coal/BV/OBB.h.

◆ operator==() [6/7]

bool coal::OBBRSS::operator== ( const OBBRSS & other ) const

inline

Equality operator.

Definition at line 63 of file coal/BV/OBBRSS.h.

◆ operator==() [7/7]

bool coal::RSS::operator== ( const RSS & other ) const

inline

Equality operator.

Definition at line 79 of file coal/BV/RSS.h.

◆ overlap() [1/28]

bool coal::AABB::overlap ( const AABB & other ) const

inline

Check whether two AABB are overlap.

Definition at line 111 of file coal/BV/AABB.h.

◆ overlap() [2/28]

bool coal::AABB::overlap	(	const AABB &	other,
		AABB &	overlap_part
	)		const

inline

Check whether two AABB are overlap and return the overlap part.

Definition at line 188 of file coal/BV/AABB.h.

◆ overlap() [3/28]

bool coal::AABB::overlap	(	const AABB &	other,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)		const

Check whether two AABB are overlap.

Definition at line 50 of file AABB.cpp.

◆ overlap() [4/28]

bool coal::AABB::overlap ( const Halfspace & hs ) const

Check whether AABB overlaps a halfspace.

Definition at line 182 of file AABB.cpp.

◆ overlap() [5/28]

template<short N>

bool coal::KDOP< N >::overlap ( const KDOP< N > & other ) const

Check whether two KDOPs overlap.

Definition at line 136 of file kDOP.cpp.

◆ overlap() [6/28]

template<short N>

bool coal::KDOP< N >::overlap	(	const KDOP< N > &	other,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)		const

Check whether two KDOPs overlap.

Returns: true if collision happens.

Return values

sqrDistLowerBound squared lower bound on distance between boxes if they do not overlap.

Definition at line 145 of file kDOP.cpp.

◆ overlap() [7/28]

bool coal::kIOS::overlap ( const kIOS & other ) const

Check collision between two kIOS.

Definition at line 47 of file kIOS.cpp.

◆ overlap() [8/28]

bool coal::kIOS::overlap	(	const kIOS &	other,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)		const

Check collision between two kIOS.

Definition at line 59 of file kIOS.cpp.

◆ overlap() [9/28]

template<short N>

bool coal::overlap	(	const Matrix3s &	,
		const Vec3s &	,
		const KDOP< N > &	,
		const KDOP< N > &
	)

Definition at line 172 of file coal/BV/kDOP.h.

◆ overlap() [10/28]

template<short N>

bool coal::overlap	(	const Matrix3s &	,
		const Vec3s &	,
		const KDOP< N > &	,
		const KDOP< N > &	,
		const CollisionRequest &	,
		CoalScalar &
	)

Definition at line 178 of file coal/BV/kDOP.h.

◆ overlap() [11/28]

bool coal::overlap	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const AABB &	b1,
		const AABB &	b2
	)

Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 134 of file AABB.cpp.

◆ overlap() [12/28]

bool coal::overlap	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const AABB &	b1,
		const AABB &	b2,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)

Check collision between two aabbs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 140 of file AABB.cpp.

◆ overlap() [13/28]

bool coal::overlap	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const kIOS &	b1,
		const kIOS &	b2
	)

Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.

Todo:: Not efficient

Definition at line 151 of file kIOS.cpp.

◆ overlap() [14/28]

bool coal::overlap	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const kIOS &	b1,
		const kIOS &	b2,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)

Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.

Todo:: Not efficient

Definition at line 165 of file kIOS.cpp.

◆ overlap() [15/28]

bool coal::overlap	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const OBB &	b1,
		const OBB &	b2
	)

Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 466 of file OBB.cpp.

◆ overlap() [16/28]

bool coal::overlap	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const OBB &	b1,
		const OBB &	b2,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)

Check collision between two obbs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 475 of file OBB.cpp.

◆ overlap() [17/28]

bool coal::overlap	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const OBBRSS &	b1,
		const OBBRSS &	b2
	)

inline

Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity.

Definition at line 133 of file coal/BV/OBBRSS.h.

◆ overlap() [18/28]

bool coal::overlap	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const OBBRSS &	b1,
		const OBBRSS &	b2,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)

inline

Check collision between two OBBRSS

Parameters

R0,T0	configuration of b1
b1	first OBBRSS in configuration (R0, T0)
b2	second OBBRSS in identity position

Return values

sqrDistLowerBound squared lower bound on the distance if OBBRSS do not overlap.

Definition at line 144 of file coal/BV/OBBRSS.h.

◆ overlap() [19/28]

bool coal::overlap	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const RSS &	b1,
		const RSS &	b2
	)

Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 729 of file RSS.cpp.

◆ overlap() [20/28]

bool coal::overlap	(	const Matrix3s &	R0,
		const Vec3s &	T0,
		const RSS &	b1,
		const RSS &	b2,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)

Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.

Definition at line 744 of file RSS.cpp.

◆ overlap() [21/28]

bool coal::OBB::overlap ( const OBB & other ) const

Check collision between two OBB

Returns: true if collision happens.

compute what transform [R,T] that takes us from cs1 to cs2. [R,T] = [R1,T1]'[R2,T2] = [R1',-R1'T][R2,T2] = [R1'R2, R1'(T2-T1)] First compute the rotation part, then translation part

Definition at line 394 of file OBB.cpp.

◆ overlap() [22/28]

bool coal::OBB::overlap	(	const OBB &	other,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)		const

Check collision between two OBB

Returns: true if collision happens.

Return values

sqrDistLowerBound squared lower bound on distance between boxes if they do not overlap.

compute what transform [R,T] that takes us from cs1 to cs2. [R,T] = [R1,T1]'[R2,T2] = [R1',-R1'T][R2,T2] = [R1'R2, R1'(T2-T1)] First compute the rotation part, then translation part

Definition at line 404 of file OBB.cpp.

◆ overlap() [23/28]

bool coal::OBBRSS::overlap ( const OBBRSS & other ) const

inline

Check collision between two OBBRSS.

Definition at line 74 of file coal/BV/OBBRSS.h.

◆ overlap() [24/28]

bool coal::OBBRSS::overlap	(	const OBBRSS &	other,
		const CollisionRequest &	request,
		CoalScalar &	sqrDistLowerBound
	)		const

inline

Check collision between two OBBRSS

Return values

sqrDistLowerBound squared lower bound on distance between objects if they do not overlap.

Definition at line 79 of file coal/BV/OBBRSS.h.

◆ overlap() [25/28]

bool coal::AABB::overlap ( const Plane & p ) const

Check whether AABB overlaps a plane.

Definition at line 147 of file AABB.cpp.

◆ overlap() [26/28]

bool coal::RSS::overlap ( const RSS & other ) const

Check collision between two RSS.

compute what transform [R,T] that takes us from cs1 to cs2. [R,T] = [R1,T1]'[R2,T2] = [R1',-R1'T][R2,T2] = [R1'R2, R1'(T2-T1)] First compute the rotation part, then translation part

Then compute R1'(T2 - T1)

Now compute R1'R2

Definition at line 714 of file RSS.cpp.

◆ overlap() [27/28]

bool coal::RSS::overlap	(	const RSS &	other,
		const CollisionRequest &	,
		CoalScalar &	sqrDistLowerBound
	)		const

inline

Not implemented.

Definition at line 95 of file coal/BV/RSS.h.

◆ overlap() [28/28]

bool coal::RSS::overlap	(	const RSS &	other,
		RSS &
	)		const

inline

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.

Definition at line 146 of file coal/BV/RSS.h.

◆ rotate()

static AABB coal::rotate	(	const AABB &	aabb,
		const Matrix3s &	R
	)

inlinestatic

Definition at line 240 of file coal/BV/AABB.h.

◆ RSS()

coal::RSS::RSS ( )

inline

Default constructor with default values

Definition at line 73 of file coal/BV/RSS.h.

◆ size() [1/6]

CoalScalar coal::OBB::size ( ) const

inline

Size of the OBB (used in BV_Splitter to order two OBBs)

Definition at line 109 of file include/coal/BV/OBB.h.

◆ size() [2/6]

CoalScalar coal::OBBRSS::size ( ) const

inline

Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)

Definition at line 113 of file coal/BV/OBBRSS.h.

◆ size() [3/6]

CoalScalar coal::RSS::size ( ) const

inline

Size of the RSS (used in BV_Splitter to order two RSSs)

Definition at line 119 of file coal/BV/RSS.h.

◆ size() [4/6]

template<short N>

CoalScalar coal::KDOP< N >::size ( ) const

inline

Size of the kDOP (used in BV_Splitter to order two kDOPs)

Definition at line 142 of file coal/BV/kDOP.h.

◆ size() [5/6]

CoalScalar coal::kIOS::size ( ) const

size of the kIOS (used in BV_Splitter to order two kIOSs)

Definition at line 120 of file kIOS.cpp.

◆ size() [6/6]

CoalScalar coal::AABB::size ( ) const

inline

Size of the AABB (used in BV_Splitter to order two AABBs)

Definition at line 161 of file coal/BV/AABB.h.

◆ translate() [1/4]

static AABB coal::translate	(	const AABB &	aabb,
		const Vec3s &	t
	)

inlinestatic

translate the center of AABB by t

Definition at line 233 of file coal/BV/AABB.h.

◆ translate() [2/4]

template<short N>

COAL_DLLAPI KDOP<N> coal::translate	(	const KDOP< N > &	bv,
		const Vec3s &	t
	)

translate the KDOP BV

Definition at line 223 of file kDOP.cpp.

◆ translate() [3/4]

kIOS coal::translate	(	const kIOS &	bv,
		const Vec3s &	t
	)

Translate the kIOS BV.

Definition at line 190 of file kIOS.cpp.

◆ translate() [4/4]

OBB coal::translate	(	const OBB &	bv,
		const Vec3s &	t
	)

Translate the OBB bv.

Definition at line 485 of file OBB.cpp.

◆ update()

AABB& coal::AABB::update	(	const Vec3s &	a,
		const Vec3s &	b
	)

inline

Definition at line 84 of file coal/BV/AABB.h.

◆ volume() [1/6]

CoalScalar coal::OBB::volume ( ) const

inline

Volume of the OBB.

Definition at line 124 of file include/coal/BV/OBB.h.

◆ volume() [2/6]

CoalScalar coal::OBBRSS::volume ( ) const

inline

Volume of the OBBRSS.

Definition at line 128 of file coal/BV/OBBRSS.h.

◆ volume() [3/6]

CoalScalar coal::RSS::volume ( ) const

inline

Volume of the RSS.

Definition at line 137 of file coal/BV/RSS.h.

◆ volume() [4/6]

template<short N>

CoalScalar coal::KDOP< N >::volume ( ) const

inline

The (AABB) volume.

Definition at line 161 of file coal/BV/kDOP.h.

◆ volume() [5/6]

CoalScalar coal::kIOS::volume ( ) const

Volume of the kIOS.

Definition at line 118 of file kIOS.cpp.

◆ volume() [6/6]

CoalScalar coal::AABB::volume ( ) const

inline

Volume of the AABB.

Definition at line 176 of file coal/BV/AABB.h.

◆ width() [1/6]

CoalScalar coal::OBB::width ( ) const

inline

Width of the OBB.

Definition at line 115 of file include/coal/BV/OBB.h.

◆ width() [2/6]

CoalScalar coal::OBBRSS::width ( ) const

inline

Width of the OBRSS.

Definition at line 119 of file coal/BV/OBBRSS.h.

◆ width() [3/6]

CoalScalar coal::RSS::width ( ) const

inline

Width of the RSS.

Definition at line 128 of file coal/BV/RSS.h.

◆ width() [4/6]

template<short N>

CoalScalar coal::KDOP< N >::width ( ) const

inline

The (AABB) width.

Definition at line 152 of file coal/BV/kDOP.h.

◆ width() [5/6]

CoalScalar coal::kIOS::width ( ) const

Width of the kIOS.

Definition at line 112 of file kIOS.cpp.

◆ width() [6/6]

CoalScalar coal::AABB::width ( ) const

inline

Width of the AABB.

Definition at line 167 of file coal/BV/AABB.h.

Variable Documentation

◆ axes [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s coal::OBB::axes

Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i-th principle direction of the box. We assume that axis[0] corresponds to the axis with the longest box edge, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.

Definition at line 59 of file include/coal/BV/OBB.h.

◆ axes [2/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s coal::RSS::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.

Definition at line 61 of file coal/BV/RSS.h.

◆ dist_

template<short N>

Eigen::Array<CoalScalar, N, 1> coal::KDOP< N >::dist_

protected

Origin's distances to N KDOP planes.

Definition at line 94 of file coal/BV/kDOP.h.

◆ extent

Vec3s coal::OBB::extent

Half dimensions of OBB.

Definition at line 65 of file include/coal/BV/OBB.h.

◆ length

CoalScalar coal::RSS::length[2]

Side lengths of rectangle.

Definition at line 67 of file coal/BV/RSS.h.

◆ max_

Vec3s coal::AABB::max_

The max point in the AABB.

Definition at line 60 of file coal/BV/AABB.h.

◆ max_num_spheres

constexpr size_t coal::kIOS::max_num_spheres = 5

staticconstexpr

Definition at line 113 of file coal/BV/kIOS.h.

◆ min_

Vec3s coal::AABB::min_

The min point in the AABB.

Definition at line 58 of file coal/BV/AABB.h.

◆ num_spheres

unsigned int coal::kIOS::num_spheres

The number of spheres, no larger than 5.

Definition at line 119 of file coal/BV/kIOS.h.

◆ o

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Vec3s coal::kIOS::kIOS_Sphere::o

Definition at line 57 of file coal/BV/kIOS.h.

◆ obb [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW OBB coal::OBBRSS::obb

OBB member, for rotation.

Definition at line 57 of file coal/BV/OBBRSS.h.

◆ obb [2/2]

OBB coal::kIOS::obb

@ OBB related with kIOS

Definition at line 122 of file coal/BV/kIOS.h.

◆ r

CoalScalar coal::kIOS::kIOS_Sphere::r

Definition at line 58 of file coal/BV/kIOS.h.

◆ radius

CoalScalar coal::RSS::radius

Radius of sphere summed with rectangle to form RSS.

Definition at line 70 of file coal/BV/RSS.h.

◆ rss

RSS coal::OBBRSS::rss

RSS member, for distance.

Definition at line 60 of file coal/BV/OBBRSS.h.

◆ spheres

kIOS_Sphere coal::kIOS::spheres[max_num_spheres]

The (at most) five spheres for intersection.

Definition at line 116 of file coal/BV/kIOS.h.

◆ To

Vec3s coal::OBB::To

Center of OBB.

Definition at line 62 of file include/coal/BV/OBB.h.

◆ Tr

Vec3s coal::RSS::Tr

Origin of the rectangle in RSS.

Definition at line 64 of file coal/BV/RSS.h.

Classes

Functions

Variables

Bounding volume API

Detailed Description

Function Documentation

◆ AABB() [1/6]

◆ AABB() [2/6]

◆ AABB() [3/6]

◆ AABB() [4/6]

◆ AABB() [5/6]

◆ AABB() [6/6]

◆ axisOverlap()

◆ center() [1/6]

◆ center() [2/6]

◆ center() [3/6]

◆ center() [4/6]

◆ center() [5/6]

◆ center() [6/6]

◆ contain() [1/6]

◆ contain() [2/6]

◆ contain() [3/6]

◆ contain() [4/6]

◆ contain() [5/6]

◆ contain() [6/6]

◆ depth() [1/6]

◆ depth() [2/6]

◆ depth() [3/6]

◆ depth() [4/6]

◆ depth() [5/6]

◆ depth() [6/6]

◆ dist() [1/2]

◆ dist() [2/2]

◆ distance() [1/10]

◆ distance() [2/10]

◆ distance() [3/10]

◆ distance() [4/10]

◆ distance() [5/10]

◆ distance() [6/10]

◆ distance() [7/10]

◆ distance() [8/10]

◆ distance() [9/10]

◆ distance() [10/10]

◆ encloseSphere()

◆ expand() [1/3]

◆ expand() [2/3]

◆ expand() [3/3]

◆ height() [1/6]

◆ height() [2/6]

◆ height() [3/6]

◆ height() [4/6]

◆ height() [5/6]

◆ height() [6/6]

◆ inside()

◆ KDOP() [1/3]

◆ KDOP() [2/3]

◆ KDOP() [3/3]

◆ OBB()

◆ obbDisjoint()

◆ operator!=() [1/7]

◆ operator!=() [2/7]

◆ operator!=() [3/7]

◆ operator!=() [4/7]

◆ operator!=() [5/7]

◆ operator!=() [6/7]

◆ operator!=() [7/7]

◆ operator+() [1/6]

◆ operator+() [2/6]

◆ operator+() [3/6]

◆ operator+() [4/6]

◆ operator+() [5/6]

◆ operator+() [6/6]

◆ operator+=() [1/12]

◆ operator+=() [2/12]

◆ operator+=() [3/12]

◆ operator+=() [4/12]

◆ operator+=() [5/12]

◆ operator+=() [6/12]

◆ operator+=() [7/12]

◆ operator+=() [8/12]