AABB.h
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35 
38 #ifndef FCL_BV_AABB_H
39 #define FCL_BV_AABB_H
40 
41 #include "fcl/common/types.h"
42 
43 namespace fcl
44 {
45 
48 template <typename S_>
49 class FCL_EXPORT AABB
50 {
51 public:
52 
53  using S = S_;
54 
57 
60 
62  AABB();
63 
65  AABB(const Vector3<S>& v);
66 
68  AABB(const Vector3<S>& a, const Vector3<S>&b);
69 
71  AABB(const AABB<S>& core, const Vector3<S>& delta);
72 
74  AABB(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c);
75 
77  bool overlap(const AABB<S>& other) const;
78 
80  bool contain(const AABB<S>& other) const;
81 
83  bool axisOverlap(const AABB<S>& other, int axis_id) const;
84 
86  bool overlap(const AABB<S>& other, AABB<S>& overlap_part) const;
87 
89  bool contain(const Vector3<S>& p) const;
90 
92  AABB<S>& operator += (const Vector3<S>& p);
93 
95  AABB<S>& operator += (const AABB<S>& other);
96 
98  AABB<S> operator + (const AABB<S>& other) const;
99 
101  S width() const;
102 
104  S height() const;
105 
107  S depth() const;
108 
110  S volume() const;
111 
113  S size() const;
114 
116  S radius() const;
117 
119  Vector3<S> center() const;
120 
123  S distance(const AABB<S>& other, Vector3<S>* P, Vector3<S>* Q) const;
124 
126  S distance(const AABB<S>& other) const;
127 
129  bool equal(const AABB<S>& other) const;
130 
133  AABB<S>& expand(const Vector3<S>& delta);
134 
136  AABB<S>& expand(const AABB<S>& core, S ratio);
137 };
138 
141 
143 template <typename S, typename Derived>
145  const AABB<S>& aabb, const Eigen::MatrixBase<Derived>& t);
146 
147 } // namespace fcl
148 
149 #include "fcl/math/bv/AABB-inl.h"
150 
151 #endif
types.h
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
fcl::translate
AABB< S > translate(const AABB< S > &aabb, const Eigen::MatrixBase< Derived > &t)
translate the center of AABB by t
Definition: AABB-inl.h:345
fcl::overlap
bool overlap(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2)
Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.
Definition: kIOS-inl.h:249
fcl::AABB
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:49
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::AABB::max_
Vector3< S > max_
The max point in the AABB.
Definition: AABB.h:59
AABB-inl.h
fcl::AABB::min_
Vector3< S > min_
The min point in the AABB.
Definition: AABB.h:56
fcl::AABB< OBBRSS< Shape::S > ::S >::S
OBBRSS< Shape::S > ::S S
Definition: AABB.h:53
aabb
SaPCollisionManager< S >::SaPAABB * aabb
back pointer to SAP interval
Definition: broadphase_SaP.h:184
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::operator+
template TMatrix3< double > operator+(const Matrix3< double > &m1, const TMatrix3< double > &m2)


fcl
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autogenerated on Sat Sep 11 2021 02:37:40