Struct OBBRSS

Defined in File OBBRSS.h

Struct Documentation

struct OBBRSS

Class merging the OBB and RSS, can handle collision and distance simultaneously.

Public Functions

inline bool operator==(const OBBRSS &other) const: Equality operator.

inline bool operator!=(const OBBRSS &other) const: Difference operator.

inline bool contain(const Vec3f &p) const: Check whether the OBBRSS contains a point.

inline bool overlap(const OBBRSS &other) const: Check collision between two OBBRSS.

inline bool overlap(const OBBRSS &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const

Check collision between two OBBRSS

Return values:: sqrDistLowerBound – squared lower bound on distance between objects if they do not overlap.

inline FCL_REAL distance(const OBBRSS &other, Vec3f *P = NULL, Vec3f *Q = NULL) const: Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points.

inline OBBRSS &operator+=(const Vec3f &p): Merge the OBBRSS and a point.

inline OBBRSS &operator+=(const OBBRSS &other): Merge two OBBRSS.

inline OBBRSS operator+(const OBBRSS &other) const: Merge two OBBRSS.

inline FCL_REAL size() const: Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)

inline const Vec3f &center() const: Center of the OBBRSS.

inline FCL_REAL width() const: Width of the OBRSS.

inline FCL_REAL height() const: Height of the OBBRSS.

inline FCL_REAL depth() const: Depth of the OBBRSS.

inline FCL_REAL volume() const: Volume of the OBBRSS.

Public Members

OBB obb: OBB member, for rotation.

RSS rss: RSS member, for distance.