BV/OBBRSS.h

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 *
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 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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#ifndef HPP_FCL_OBBRSS_H
#define HPP_FCL_OBBRSS_H
 
#include <hpp/fcl/BV/OBB.h>
#include <hpp/fcl/BV/RSS.h>
 
namespace hpp {
namespace fcl {
 
struct CollisionRequest;
 
 
struct HPP_FCL_DLLAPI OBBRSS {
  OBB obb;
 
  RSS rss;
 
  bool operator==(const OBBRSS& other) const {
    return obb == other.obb && rss == other.rss;
  }
 
  bool operator!=(const OBBRSS& other) const { return !(*this == other); }
 
  inline bool contain(const Vec3f& p) const { return obb.contain(p); }
 
  bool overlap(const OBBRSS& other) const { return obb.overlap(other.obb); }
 
  bool overlap(const OBBRSS& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const {
    return obb.overlap(other.obb, request, sqrDistLowerBound);
  }
 
  FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL,
                    Vec3f* Q = NULL) const {
    return rss.distance(other.rss, P, Q);
  }
 
  OBBRSS& operator+=(const Vec3f& p) {
    obb += p;
    rss += p;
    return *this;
  }
 
  OBBRSS& operator+=(const OBBRSS& other) {
    *this = *this + other;
    return *this;
  }
 
  OBBRSS operator+(const OBBRSS& other) const {
    OBBRSS result;
    result.obb = obb + other.obb;
    result.rss = rss + other.rss;
    return result;
  }
 
  inline FCL_REAL size() const { return obb.size(); }
 
  inline const Vec3f& center() const { return obb.center(); }
 
  inline FCL_REAL width() const { return obb.width(); }
 
  inline FCL_REAL height() const { return obb.height(); }
 
  inline FCL_REAL depth() const { return obb.depth(); }
 
  inline FCL_REAL volume() const { return obb.volume(); }
};
 
inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                    const OBBRSS& b2) {
  return overlap(R0, T0, b1.obb, b2.obb);
}
 
inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                    const OBBRSS& b2, const CollisionRequest& request,
                    FCL_REAL& sqrDistLowerBound) {
  return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
}
 
inline FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                         const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL) {
  return distance(R0, T0, b1.rss, b2.rss, P, Q);
}
 
}  // namespace fcl
 
}  // namespace hpp
 
#endif