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

#include <coal/BV/AABB.h>

Public Member Functions
	AABB ()
	Creating an AABB with zero size (low bound +inf, upper bound -inf)

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

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

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

	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

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

bool	operator== (const AABB &other) const
	Comparison operator.

bool	operator!= (const AABB &other) const

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

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

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

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

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

AABB &	expand (const AABB &core, Scalar ratio)
	expand the aabb by increase the thickness of the plate by a ratio

Bounding volume API
Common API to BVs.
bool	contain (const Vec3s &p) const
	Check whether the AABB contains a point.

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, Scalar &sqrDistLowerBound) const
	Check whether two AABB are overlap.

Scalar	distance (const AABB &other) const
	Distance between two AABBs.

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

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

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

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

Scalar	size () const
	Size of the AABB (used in BV_Splitter to order two AABBs)

Vec3s	center () const
	Center of the AABB.

Scalar	width () const
	Width of the AABB.

Scalar	height () const
	Height of the AABB.

Scalar	depth () const
	Depth of the AABB.

Scalar	volume () const
	Volume of the AABB.

Public Attributes
Vec3s	min_
	The min point in the AABB.

Vec3s	max_
	The max point in the AABB.

Detailed Description

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

Constructor & Destructor Documentation

◆ AABB() [1/6]

coal::AABB::AABB ( )

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

◆ AABB() [2/6]

coal::AABB::AABB ( const Vec3s & v )

inline

Creating an AABB at position v with zero size.

◆ AABB() [3/6]

coal::AABB::AABB	(	const Vec3s &	a,
		const Vec3s &	b
	)

inline

Creating an AABB with two endpoints a and b.

◆ AABB() [4/6]

coal::AABB::AABB	(	const AABB &	core,
		const Vec3s &	delta
	)

inline

Creating an AABB centered as core and is of half-dimension delta.

◆ AABB() [5/6]

coal::AABB::AABB	(	const Vec3s &	a,
		const Vec3s &	b,
		const Vec3s &	c
	)

inline

Creating an AABB contains three points.

◆ AABB() [6/6]

coal::AABB::AABB ( const AABB & other )

default

Member Function Documentation

◆ axisOverlap()

bool coal::AABB::axisOverlap	(	const AABB &	other,
		int	axis_id
	)		const

inline

Check whether two AABB are overlapped along specific axis.

◆ center()

Vec3s coal::AABB::center ( ) const

inline

Center of the AABB.

◆ contain() [1/2]

bool coal::AABB::contain ( const AABB & other ) const

inline

Check whether the AABB contains another AABB.

◆ contain() [2/2]

bool coal::AABB::contain ( const Vec3s & p ) const

inline

Check whether the AABB contains a point.

◆ depth()

Scalar coal::AABB::depth ( ) const

inline

Depth of the AABB.

◆ distance() [1/2]

Scalar coal::AABB::distance ( const AABB & other ) const

Distance between two AABBs.

◆ distance() [2/2]

Scalar coal::AABB::distance	(	const AABB &	other,
		Vec3s *	P,
		Vec3s *	Q
	)		const

Distance between two AABBs; P and Q, should not be NULL, return the nearest points.

◆ expand() [1/3]

AABB & coal::AABB::expand	(	const AABB &	core,
		Scalar	ratio
	)

inline

expand the aabb by increase the thickness of the plate by a ratio

◆ expand() [2/3]

AABB & coal::AABB::expand ( const Scalar delta )

inline

expand the half size of the AABB by a scalar delta, and keep the center unchanged.

◆ expand() [3/3]

AABB & coal::AABB::expand ( const Vec3s & delta )

inline

expand the half size of the AABB by delta, and keep the center unchanged.

◆ height()

Scalar coal::AABB::height ( ) const

inline

Height of the AABB.

◆ operator!=()

bool coal::AABB::operator!= ( const AABB & other ) const

inline

◆ operator+()

AABB coal::AABB::operator+ ( const AABB & other ) const

inline

Return the merged AABB of current AABB and the other one.

◆ operator+=() [1/2]

AABB & coal::AABB::operator+= ( const AABB & other )

inline

Merge the AABB and another AABB.

◆ operator+=() [2/2]

AABB & coal::AABB::operator+= ( const Vec3s & p )

inline

Merge the AABB and a point.

◆ operator=()

AABB & coal::AABB::operator= ( const AABB & other )

default

◆ operator==()

bool coal::AABB::operator== ( const AABB & other ) const

inline

Comparison operator.

◆ overlap() [1/5]

bool coal::AABB::overlap ( const AABB & other ) const

inline

Check whether two AABB are overlap.

◆ overlap() [2/5]

bool coal::AABB::overlap	(	const AABB &	other,
		AABB &	overlap_part
	)		const

inline

Check whether two AABB are overlap and return the overlap part.

◆ overlap() [3/5]

bool coal::AABB::overlap	(	const AABB &	other,
		const CollisionRequest &	request,
		Scalar &	sqrDistLowerBound
	)		const

Check whether two AABB are overlap.

◆ overlap() [4/5]

bool coal::AABB::overlap ( const Halfspace & hs ) const

Check whether AABB overlaps a halfspace.

◆ overlap() [5/5]

bool coal::AABB::overlap ( const Plane & p ) const

Check whether AABB overlaps a plane.

◆ size()

Scalar coal::AABB::size ( ) const

inline

Size of the AABB (used in BV_Splitter to order two AABBs)

◆ update()

AABB & coal::AABB::update	(	const Vec3s &	a,
		const Vec3s &	b
	)

inline

◆ volume()

Scalar coal::AABB::volume ( ) const

inline

Volume of the AABB.

◆ width()

Scalar coal::AABB::width ( ) const

inline

Width of the AABB.

Member Data Documentation

◆ max_

Vec3s coal::AABB::max_

The max point in the AABB.

◆ min_

Vec3s coal::AABB::min_

The min point in the AABB.

The documentation for this class was generated from the following file:

include/coal/BV/AABB.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AABB() [1/6]

◆ AABB() [2/6]

◆ AABB() [3/6]

◆ AABB() [4/6]

◆ AABB() [5/6]

◆ AABB() [6/6]

Member Function Documentation

◆ axisOverlap()

◆ center()

◆ contain() [1/2]

◆ contain() [2/2]

◆ depth()

◆ distance() [1/2]

◆ distance() [2/2]

◆ expand() [1/3]

◆ expand() [2/3]

◆ expand() [3/3]

◆ height()

◆ operator!=()

◆ operator+()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator=()

◆ operator==()

◆ overlap() [1/5]

◆ overlap() [2/5]

◆ overlap() [3/5]

◆ overlap() [4/5]

◆ overlap() [5/5]

◆ size()

◆ update()

◆ volume()

◆ width()

Member Data Documentation

◆ max_

◆ min_