Class AABB

Defined in File AABB.h

Class Documentation

class AABB

A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points.

Bounding volume API

Common API to BVs.

inline bool contain(const Vec3s &p) const: Check whether the AABB contains a point.

inline bool overlap(const AABB &other) const: Check whether two AABB are overlap.

bool overlap(const Plane &p) const: Check whether AABB overlaps a plane.

bool overlap(const Halfspace &hs) const: Check whether AABB overlaps a halfspace.

bool overlap(const AABB &other, const CollisionRequest &request, CoalScalar &sqrDistLowerBound) const: Check whether two AABB are overlap.

CoalScalar distance(const AABB &other) const: Distance between two AABBs.

CoalScalar distance(const AABB &other, Vec3s *P, Vec3s *Q) const: Distance between two AABBs; P and Q, should not be NULL, return the nearest points.

inline AABB &operator+=(const Vec3s &p): Merge the AABB and a point.

inline AABB &operator+=(const AABB &other): Merge the AABB and another AABB.

inline AABB operator+(const AABB &other) const: Return the merged AABB of current AABB and the other one.

inline CoalScalar size() const: Size of the AABB (used in BV_Splitter to order two AABBs)

inline Vec3s center() const: Center of the AABB.

inline CoalScalar width() const: Width of the AABB.

inline CoalScalar height() const: Height of the AABB.

inline CoalScalar depth() const: Depth of the AABB.

inline CoalScalar volume() const: Volume of the AABB.

Public Functions

AABB(): Creating an AABB with zero size (low bound +inf, upper bound -inf)

inline AABB(const Vec3s &v): Creating an AABB at position v with zero size.

inline AABB(const Vec3s &a, const Vec3s &b): Creating an AABB with two endpoints a and b.

inline AABB(const AABB &core, const Vec3s &delta): Creating an AABB centered as core and is of half-dimension delta.

inline AABB(const Vec3s &a, const Vec3s &b, const Vec3s &c): Creating an AABB contains three points.

AABB(const AABB &other) = default

AABB &operator=(const AABB &other) = default

inline AABB &update(const Vec3s &a, const Vec3s &b)

inline bool operator==(const AABB &other) const: Comparison operator.

inline bool operator!=(const AABB &other) const

inline bool contain(const AABB &other) const: Check whether the AABB contains another AABB.

inline bool overlap(const AABB &other, AABB &overlap_part) const: Check whether two AABB are overlap and return the overlap part.

inline bool axisOverlap(const AABB &other, int axis_id) const: Check whether two AABB are overlapped along specific axis.

inline AABB &expand(const Vec3s &delta): expand the half size of the AABB by delta, and keep the center unchanged.

inline AABB &expand(const CoalScalar delta): expand the half size of the AABB by a scalar delta, and keep the center unchanged.

inline AABB &expand(const AABB &core, CoalScalar ratio): expand the aabb by increase the thickness of the plate by a ratio

Public Members

Vec3s min_: The min point in the AABB.

Vec3s max_: The max point in the AABB.