OBB.h

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#ifndef FCL_BV_OBB_H
#define FCL_BV_OBB_H
 
#include <iostream>
 
#include "fcl/common/types.h"
#include "fcl/math/geometry.h"
 
namespace fcl
{
 
template <typename S_>
class FCL_EXPORT OBB
{
public:
 
  using S = S_;
 
  Matrix3<S> axis;
 
  Vector3<S> To;
 
  Vector3<S> extent;
 
  OBB();
 
  OBB(const Matrix3<S>& axis,
      const Vector3<S>& center,
      const Vector3<S>& extent);
 
  bool overlap(const OBB<S>& other) const;
  
  bool overlap(const OBB<S>& other, OBB<S>& overlap_part) const;
 
  bool contain(const Vector3<S>& p) const;
 
  OBB<S>& operator +=(const Vector3<S>& p);
 
  OBB<S>& operator += (const OBB<S>& other);
 
  OBB<S> operator + (const OBB<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 OBB& other, Vector3<S>* P = nullptr,
                  Vector3<S>* Q = nullptr) const;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
};
 
using OBBf = OBB<float>;
using OBBd = OBB<double>;
 
template <typename S>
FCL_EXPORT
void computeVertices(const OBB<S>& b, Vector3<S> vertices[8]);
 
template <typename S>
FCL_EXPORT
OBB<S> merge_largedist(const OBB<S>& b1, const OBB<S>& b2);
 
template <typename S>
FCL_EXPORT
OBB<S> merge_smalldist(const OBB<S>& b1, const OBB<S>& b2);
 
template <typename S, typename Derived>
FCL_EXPORT
OBB<S> translate(
    const OBB<S>& bv, const Eigen::MatrixBase<Derived>& t);
 
template <typename S, typename DerivedA, typename DerivedB>
FCL_EXPORT
bool overlap(const Eigen::MatrixBase<DerivedA>& R0,
             const Eigen::MatrixBase<DerivedB>& T0,
             const OBB<S>& b1, const OBB<S>& b2);
 
template <typename S>
FCL_EXPORT
bool obbDisjoint(
    const Matrix3<S>& B,
    const Vector3<S>& T,
    const Vector3<S>& a,
    const Vector3<S>& b);
 
template <typename S>
FCL_EXPORT
bool obbDisjoint(
    const Transform3<S>& tf,
    const Vector3<S>& a,
    const Vector3<S>& b);
 
} // namespace fcl
 
#include "fcl/math/bv/OBB-inl.h"
 
#endif