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

#include <AABB.h>

Public Types
using	S = S_

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

	AABB (const AABB< S > &core, const Vector3< S > &delta)
	Creating an AABB centered as core and is of half-dimension delta. More...

	AABB (const Vector3< S > &a, const Vector3< S > &b)
	Creating an AABB with two endpoints a and b. More...

	AABB (const Vector3< S > &a, const Vector3< S > &b, const Vector3< S > &c)
	Creating an AABB contains three points. More...

	AABB (const Vector3< S > &v)
	Creating an AABB at position v with zero size. More...

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

Vector3< S >	center () const
	Center of the AABB. More...

bool	contain (const AABB< S > &other) const
	Check whether the AABB contains another AABB. More...

bool	contain (const Vector3< S > &p) const
	Check whether the AABB contains a point. More...

S	depth () const
	Depth of the AABB. More...

S	distance (const AABB< S > &other) const
	Distance between two AABBs. More...

S	distance (const AABB< S > &other, Vector3< S > P, Vector3< S > Q) const
	Distance between two AABBs; P and Q, should not be nullptr, return the nearest points. More...

bool	equal (const AABB< S > &other) const
	whether two AABB are equal More...

AABB< S > &	expand (const AABB< S > &core, S ratio)
	expand the aabb by increase the thickness of the plate by a ratio More...

AABB< S > &	expand (const Vector3< S > &delta)
	expand the half size of the AABB by delta, and keep the center unchanged. More...

S	height () const
	Height of the AABB. More...

AABB< S >	operator+ (const AABB< S > &other) const
	Return the merged AABB of current AABB and the other one. More...

AABB< S > &	operator+= (const AABB< S > &other)
	Merge the AABB and another AABB. More...

AABB< S > &	operator+= (const Vector3< S > &p)
	Merge the AABB and a point. More...

bool	overlap (const AABB< S > &other) const
	Check whether two AABB are overlap. More...

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

S	radius () const
	Radius of the AABB. More...

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

S	volume () const
	Volume of the AABB. More...

S	width () const
	Width of the AABB. More...

Public Attributes
Vector3< S >	max_
	The max point in the AABB. More...

Vector3< S >	min_
	The min point in the AABB. More...

Detailed Description

template<typename S_>
class fcl::AABB< S_ >

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

Definition at line 49 of file AABB.h.

Member Typedef Documentation

◆ S

template<typename S_ >

using fcl::AABB< S_ >::S = S_

Definition at line 53 of file AABB.h.

Constructor & Destructor Documentation

◆ AABB() [1/5]

template<typename S >

fcl::AABB< S >::AABB

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

Definition at line 52 of file AABB-inl.h.

◆ AABB() [2/5]

template<typename S >

fcl::AABB< S >::AABB ( const Vector3< S > & v )

Creating an AABB at position v with zero size.

Definition at line 61 of file AABB-inl.h.

◆ AABB() [3/5]

template<typename S >

fcl::AABB< S >::AABB	(	const Vector3< S > &	a,
		const Vector3< S > &	b
	)

Creating an AABB with two endpoints a and b.

Definition at line 68 of file AABB-inl.h.

◆ AABB() [4/5]

template<typename S >

fcl::AABB< S >::AABB	(	const AABB< S > &	core,
		const Vector3< S > &	delta
	)

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

Definition at line 77 of file AABB-inl.h.

◆ AABB() [5/5]

template<typename S >

fcl::AABB< S >::AABB	(	const Vector3< S > &	a,
		const Vector3< S > &	b,
		const Vector3< S > &	c
	)

Creating an AABB contains three points.

Definition at line 86 of file AABB-inl.h.

Member Function Documentation

◆ axisOverlap()

template<typename S >

bool fcl::AABB< S >::axisOverlap	(	const AABB< S > &	other,
		int	axis_id
	)		const

Check whether two AABB are overlapped along specific axis.

Definition at line 124 of file AABB-inl.h.

◆ center()

template<typename S >

Vector3< S > fcl::AABB< S >::center

Center of the AABB.

Definition at line 230 of file AABB-inl.h.

◆ contain() [1/2]

template<typename S >

bool fcl::AABB< S >::contain ( const AABB< S > & other ) const

Check whether the AABB contains another AABB.

Definition at line 111 of file AABB-inl.h.

◆ contain() [2/2]

template<typename S >

bool fcl::AABB< S >::contain ( const Vector3< S > & p ) const

Check whether the AABB contains a point.

Definition at line 149 of file AABB-inl.h.

◆ depth()

template<typename S >

S fcl::AABB< S >::depth

Depth of the AABB.

Definition at line 202 of file AABB-inl.h.

◆ distance() [1/2]

template<typename S >

S fcl::AABB< S >::distance ( const AABB< S > & other ) const

Distance between two AABBs.

Definition at line 292 of file AABB-inl.h.

◆ distance() [2/2]

template<typename S >

S fcl::AABB< S >::distance	(	const AABB< S > &	other,
		Vector3< S > *	P,
		Vector3< S > *	Q
	)		const

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

Definition at line 237 of file AABB-inl.h.

◆ equal()

template<typename S >

bool fcl::AABB< S >::equal ( const AABB< S > & other ) const

whether two AABB are equal

Definition at line 319 of file AABB-inl.h.

◆ expand() [1/2]

template<typename S >

AABB< S > & fcl::AABB< S >::expand	(	const AABB< S > &	core,
		S	ratio
	)

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

Definition at line 336 of file AABB-inl.h.

◆ expand() [2/2]

template<typename S >

AABB< S > & fcl::AABB< S >::expand ( const Vector3< S > & delta )

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

Definition at line 327 of file AABB-inl.h.

◆ height()

template<typename S >

S fcl::AABB< S >::height

Height of the AABB.

Definition at line 195 of file AABB-inl.h.

◆ operator+()

template<typename S >

AABB< S > fcl::AABB< S >::operator+ ( const AABB< S > & other ) const

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

Definition at line 180 of file AABB-inl.h.

◆ operator+=() [1/2]

template<typename S >

AABB< S > & fcl::AABB< S >::operator+= ( const AABB< S > & other )

Merge the AABB and another AABB.

Definition at line 171 of file AABB-inl.h.

◆ operator+=() [2/2]

template<typename S >

AABB< S > & fcl::AABB< S >::operator+= ( const Vector3< S > & p )

Merge the AABB and a point.

Definition at line 162 of file AABB-inl.h.

◆ overlap() [1/2]

template<typename S >

bool fcl::AABB< S >::overlap ( const AABB< S > & other ) const

Check whether two AABB are overlap.

Definition at line 98 of file AABB-inl.h.

◆ overlap() [2/2]

template<typename S >

bool fcl::AABB< S >::overlap	(	const AABB< S > &	other,
		AABB< S > &	overlap_part
	)		const

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

Definition at line 135 of file AABB-inl.h.

◆ radius()

template<typename S >

S fcl::AABB< S >::radius

Radius of the AABB.

Definition at line 223 of file AABB-inl.h.

◆ size()

template<typename S >

S fcl::AABB< S >::size

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

Definition at line 216 of file AABB-inl.h.

◆ volume()

template<typename S >

S fcl::AABB< S >::volume

Volume of the AABB.

Definition at line 209 of file AABB-inl.h.

◆ width()

template<typename S >

S fcl::AABB< S >::width

Width of the AABB.

Definition at line 188 of file AABB-inl.h.

Member Data Documentation

◆ max_

template<typename S_ >

Vector3<S> fcl::AABB< S_ >::max_

The max point in the AABB.

Definition at line 59 of file AABB.h.

◆ min_

template<typename S_ >

Vector3<S> fcl::AABB< S_ >::min_

The min point in the AABB.

Definition at line 56 of file AABB.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<typename S_> class fcl::AABB< S_ >

Member Typedef Documentation

◆ S

Constructor & Destructor Documentation

◆ AABB() [1/5]

◆ AABB() [2/5]

◆ AABB() [3/5]

◆ AABB() [4/5]

◆ AABB() [5/5]

Member Function Documentation

◆ axisOverlap()

◆ center()

◆ contain() [1/2]

◆ contain() [2/2]

◆ depth()

◆ distance() [1/2]

◆ distance() [2/2]

◆ equal()

◆ expand() [1/2]

◆ expand() [2/2]

◆ height()

◆ operator+()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ overlap() [1/2]

◆ overlap() [2/2]

◆ radius()

◆ size()

◆ volume()

◆ width()

Member Data Documentation

◆ max_

◆ min_

template<typename S_>
class fcl::AABB< S_ >