Public Member Functions |
| const Vec3f & | center () const |
| | The RSS center.
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| bool | contain (const Vec3f &p) const |
| | Check whether the RSS contains a point.
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| FCL_REAL | depth () const |
| | Depth of the RSS.
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| FCL_REAL | distance (const RSS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const |
| | the distance between two RSS; P and Q, if not NULL, return the nearest points
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| FCL_REAL | height () const |
| | Height of the RSS.
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| RSS | operator+ (const RSS &other) const |
| | Return the merged RSS of current RSS and the other one.
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| RSS & | operator+= (const Vec3f &p) |
| | A simple way to merge the RSS and a point, not compact.
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| RSS & | operator+= (const RSS &other) |
| | Merge the RSS and another RSS.
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| bool | overlap (const RSS &other) const |
| | Check collision between two RSS.
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| bool | overlap (const RSS &other, RSS &overlap_part) 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.
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| FCL_REAL | size () const |
| | Size of the RSS (used in BV_Splitter to order two RSSs)
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| FCL_REAL | volume () const |
| | Volume of the RSS.
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| FCL_REAL | width () const |
| | Width of the RSS.
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Public Attributes |
| Vec3f | axis [3] |
| | 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.
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| FCL_REAL | l [2] |
| | Side lengths of rectangle.
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| FCL_REAL | r |
| | Radius of sphere summed with rectangle to form RSS.
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| Vec3f | Tr |
| | Origin of the rectangle in RSS.
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A class for rectangle sphere-swept bounding volume.
Definition at line 49 of file RSS.h.
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
First compute T2 - T1
Then compute R1'(T2 - T1)
Now compute R1'R2
Definition at line 831 of file RSS.cpp.
