Program Listing for File OBB.h
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#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