Public Member Functions |
| const Vec3f & | center () const |
| | Center of the OBB.
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| bool | contain (const Vec3f &p) const |
| | Check whether the OBB contains a point.
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| FCL_REAL | depth () const |
| | Depth of the OBB.
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| FCL_REAL | distance (const OBB &other, Vec3f *P=NULL, Vec3f *Q=NULL) const |
| | Distance between two OBBs, not implemented.
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| FCL_REAL | height () const |
| | Height of the OBB.
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| OBB | operator+ (const OBB &other) const |
| | Return the merged OBB of current OBB and the other one (the result is not compact).
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| OBB & | operator+= (const Vec3f &p) |
| | A simple way to merge the OBB and a point (the result is not compact).
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| OBB & | operator+= (const OBB &other) |
| | Merge the OBB and another OBB (the result is not compact).
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| bool | overlap (const OBB &other) const |
| | Check collision between two OBB, return true if collision happens.
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| bool | overlap (const OBB &other, OBB &overlap_part) const |
| | Check collision between two OBB and return the overlap part. For OBB, the overlap_part return value is NOT used as the overlap part of two obbs usually is not an obb.
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| FCL_REAL | size () const |
| | Size of the OBB (used in BV_Splitter to order two OBBs)
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| FCL_REAL | volume () const |
| | Volume of the OBB.
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| FCL_REAL | width () const |
| | Width of the OBB.
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Public Attributes |
| Vec3f | axis [3] |
| | 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.
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| Vec3f | extent |
| | Half dimensions of OBB.
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| Vec3f | To |
| | Center of OBB.
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Oriented bounding box class.
Definition at line 48 of file OBB.h.
Check collision between two OBB, return 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 302 of file OBB.cpp.
