include/hpp/fcl/BV/OBB.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef HPP_FCL_OBB_H
#define HPP_FCL_OBB_H
 
#include <hpp/fcl/data_types.h>
 
namespace hpp {
namespace fcl {
 
struct CollisionRequest;
 
 
struct HPP_FCL_DLLAPI OBB {
  Matrix3f axes;
 
  Vec3f To;
 
  Vec3f extent;
 
  OBB() : axes(Matrix3f::Zero()), To(Vec3f::Zero()), extent(Vec3f::Zero()) {}
 
  bool operator==(const OBB& other) const {
    return axes == other.axes && To == other.To && extent == other.extent;
  }
 
  bool operator!=(const OBB& other) const { return !(*this == other); }
 
  bool contain(const Vec3f& p) const;
 
  bool overlap(const OBB& other) const;
 
  bool overlap(const OBB& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const;
 
  FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
 
  OBB& operator+=(const Vec3f& p);
 
  OBB& operator+=(const OBB& other) {
    *this = *this + other;
    return *this;
  }
 
  OBB operator+(const OBB& other) const;
 
  inline FCL_REAL size() const { return extent.squaredNorm(); }
 
  inline const Vec3f& center() const { return To; }
 
  inline FCL_REAL width() const { return 2 * extent[0]; }
 
  inline FCL_REAL height() const { return 2 * extent[1]; }
 
  inline FCL_REAL depth() const { return 2 * extent[2]; }
 
  inline FCL_REAL volume() const { return width() * height() * depth(); }
};
 
HPP_FCL_DLLAPI OBB translate(const OBB& bv, const Vec3f& t);
 
HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1,
                            const OBB& b2);
 
HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1,
                            const OBB& b2, const CollisionRequest& request,
                            FCL_REAL& sqrDistLowerBound);
 
HPP_FCL_DLLAPI bool obbDisjoint(const Matrix3f& B, const Vec3f& T,
                                const Vec3f& a, const Vec3f& b);
}  // namespace fcl
 
}  // namespace hpp
 
#endif