OBBRSS.h

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#ifndef FCL_BV_OBBRSS_H
#define FCL_BV_OBBRSS_H
 
#include "fcl/math/bv/OBB.h"
#include "fcl/math/bv/RSS.h"
 
namespace fcl
{
 
template <typename S_>
class FCL_EXPORT OBBRSS
{
public:
 
  using S = S_;
 
  OBB<S> obb;
 
  RSS<S> rss;
 
  bool overlap(const OBBRSS<S>& other) const;
 
  bool overlap(const OBBRSS<S>& other, OBBRSS<S>& overlap_part) const;
 
  bool contain(const Vector3<S>& p) const;
 
  OBBRSS<S>& operator += (const Vector3<S>& p);
 
  OBBRSS<S>& operator += (const OBBRSS<S>& other);
 
  OBBRSS<S> operator + (const OBBRSS<S>& other) const;
 
  S width() const;
 
  S height() const;
 
  S depth() const;
 
  S volume() const;
 
  S size() const;
 
  const Vector3<S> center() const;
 
  S distance(const OBBRSS<S>& other,
                  Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr) const;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
};
 
using OBBRSSf = OBBRSS<float>;
using OBBRSSd = OBBRSS<double>;
 
template <typename S>
FCL_EXPORT
OBBRSS<S> translate(const OBBRSS<S>& bv, const Vector3<S>& t);
 
template <typename S, typename DerivedA, typename DerivedB>
FCL_EXPORT
bool overlap(const Eigen::MatrixBase<DerivedA>& R0,
             const Eigen::MatrixBase<DerivedB>& T0,
             const OBBRSS<S>& b1, const OBBRSS<S>& b2);
 
template <typename S>
FCL_EXPORT
bool overlap(
    const Transform3<S>& tf,
    const OBBRSS<S>& b1,
    const OBBRSS<S>& b2);
 
template <typename S, typename DerivedA, typename DerivedB>
FCL_EXPORT
S distance(
    const Eigen::MatrixBase<DerivedA>& R0,
    const Eigen::MatrixBase<DerivedB>& T0,
    const OBBRSS<S>& b1, const OBBRSS<S>& b2,
    Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr);
 
template <typename S>
FCL_EXPORT
S distance(
    const Transform3<S>& tf,
    const OBBRSS<S>& b1,
    const OBBRSS<S>& b2,
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);
 
} // namespace fcl
 
#include "fcl/math/bv/OBBRSS-inl.h"
 
#endif