RSS.h

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#ifndef FCL_BV_RSS_H
#define FCL_BV_RSS_H
 
#include "fcl/math/constants.h"
#include "fcl/math/geometry.h"
 
namespace fcl
{
 
template <typename S_>
class FCL_EXPORT RSS
{
public:
 
  using S = S_;
 
  Matrix3<S> axis;
 
  Vector3<S> To;
 
  S l[2];
 
  S r;
 
  RSS();
 
  bool overlap(const RSS<S>& other) const;
 
  bool overlap(const RSS<S>& other, RSS<S>& overlap_part) const;
 
  bool contain(const Vector3<S>& p) const;
 
  RSS<S>& operator += (const Vector3<S>& p);
 
  RSS<S>& operator += (const RSS<S>& other);
 
  RSS<S> operator + (const RSS<S>& other) const;
 
  S width() const;
 
  S height() const;
 
  S depth() const;
 
  S volume() const;
 
  S size() const;
 
  const Vector3<S> center() const;
 
  void setToFromCenter(const Vector3<S>& p_FoCenter_F);
 
  S distance(const RSS<S>& other,
             Vector3<S>* P = nullptr,
             Vector3<S>* Q = nullptr) const;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
private:
  // Internal monogram notation alias of axis.
  Matrix3<S>& R_FT() { return axis; }
 
  // Internal monogram notation const alias of axis.
  const Matrix3<S>& R_FT() const { return axis; }
 
  // Internal monogram notation alias of To.
  Vector3<S>& p_FoTo_F() { return To; }
 
  // Internal monogram notation alias of To.
  const Vector3<S>& p_FoTo_F() const { return To; }
};
 
using RSSf = RSS<float>;
using RSSd = RSS<double>;
 
template <typename S>
FCL_EXPORT
void clipToRange(S& val, S a, S b);
 
template <typename S>
FCL_EXPORT
void segCoords(S& t, S& u, S a, S b,
               S A_dot_B, S A_dot_T, S B_dot_T);
 
template <typename S>
FCL_EXPORT
bool inVoronoi(S a, S b,
               S Anorm_dot_B, S Anorm_dot_T,
               S A_dot_B, S A_dot_T, S B_dot_T);
 
template <typename S>
FCL_EXPORT
S rectDistance(
    const Matrix3<S>& Rab,
    const Vector3<S>& Tab,
    const S a[2],
    const S b[2],
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);
 
template <typename S>
FCL_EXPORT
S rectDistance(
    const Transform3<S>& tfab,
    const S a[2],
    const S b[2],
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);
 
template <typename S, typename DerivedA, typename DerivedB>
FCL_EXPORT
S distance(
    const Eigen::MatrixBase<DerivedA>& R0,
    const Eigen::MatrixBase<DerivedB>& T0,
    const RSS<S>& b1,
    const RSS<S>& b2,
    Vector3<S>* P = nullptr,
    Vector3<S>* Q = nullptr);
 
template <typename S, typename DerivedA, typename DerivedB>
FCL_EXPORT
bool overlap(
    const Eigen::MatrixBase<DerivedA>& R0,
    const Eigen::MatrixBase<DerivedB>& T0,
    const RSS<S>& b1,
    const RSS<S>& b2);
 
template <typename S>
FCL_EXPORT
RSS<S> translate(const RSS<S>& bv, const Vector3<S>& t);
 
} // namespace fcl
 
#include "fcl/math/bv/RSS-inl.h"
 
#endif