coal::OBB Struct Reference

Oriented bounding box class. More...

#include <coal/BV/OBB.h>

Public Member Functions
	OBB ()
bool	operator== (const OBB &other) const
	Equality operator. More...
bool	operator!= (const OBB &other) const
	Difference operator. More...
bool	contain (const Vec3s &p) const
	Check whether the OBB contains a point. More...
bool	overlap (const OBB &other) const
bool	overlap (const OBB &other, const CollisionRequest &request, Scalar &sqrDistLowerBound) const
Scalar	distance (const OBB &other, Vec3s *P=NULL, Vec3s *Q=NULL) const
	Distance between two OBBs, not implemented. More...
OBB &	operator+= (const Vec3s &p)
	A simple way to merge the OBB and a point (the result is not compact). More...
OBB &	operator+= (const OBB &other)
	Merge the OBB and another OBB (the result is not compact). More...
OBB	operator+ (const OBB &other) const
	Return the merged OBB of current OBB and the other one (the result is not compact). More...
Scalar	size () const
	Size of the OBB (used in BV_Splitter to order two OBBs) More...
const Vec3s &	center () const
	Center of the OBB. More...
Scalar	width () const
	Width of the OBB. More...
Scalar	height () const
	Height of the OBB. More...
Scalar	depth () const
	Depth of the OBB. More...
Scalar	volume () const
	Volume of the OBB. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s	axes
	Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i-th principle direction of the box. We assume that axis[0] corresponds to the axis with the longest box edge, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one. More...
Vec3s	To
	Center of OBB. More...
Vec3s	extent
	Half dimensions of OBB. More...

Detailed Description

Oriented bounding box class.

Constructor & Destructor Documentation

OBB()

coal::OBB::OBB ( )

inline

Member Function Documentation

center()

const Vec3s& coal::OBB::center ( ) const

inline

Center of the OBB.

contain()

bool coal::OBB::contain

(

const Vec3s &

p

)

const

Check whether the OBB contains a point.

depth()

Scalar coal::OBB::depth ( ) const

inline

Depth of the OBB.

distance()

Scalar coal::OBB::distance	(	const OBB &	other,
		Vec3s *	P = NULL,
		Vec3s *	Q = NULL
	)		const

Distance between two OBBs, not implemented.

height()

Scalar coal::OBB::height ( ) const

inline

Height of the OBB.

operator!=()

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

inline

Difference operator.

operator+()

OBB coal::OBB::operator+

(

const OBB &

other

)

const

Return the merged OBB of current OBB and the other one (the result is not compact).

operator+=() [1/2]

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

inline

Merge the OBB and another OBB (the result is not compact).

operator+=() [2/2]

OBB& coal::OBB::operator+=

(

const Vec3s &

p

)

A simple way to merge the OBB and a point (the result is not compact).

operator==()

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

inline

Equality operator.

overlap() [1/2]

bool coal::OBB::overlap

(

const OBB &

other

)

const

Check collision between two OBB

Returns

true if collision happens.

overlap() [2/2]

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

Check collision between two OBB

Returns

true if collision happens.

Return values

sqrDistLowerBound

squared lower bound on distance between boxes if they do not overlap.

size()

Scalar coal::OBB::size ( ) const

inline

Size of the OBB (used in BV_Splitter to order two OBBs)

volume()

Scalar coal::OBB::volume ( ) const

inline

Volume of the OBB.

width()

Scalar coal::OBB::width ( ) const

inline

Width of the OBB.

Member Data Documentation

axes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s coal::OBB::axes

Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i-th principle direction of the box. We assume that axis[0] corresponds to the axis with the longest box edge, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.

extent

Vec3s coal::OBB::extent

Half dimensions of OBB.

To

Vec3s coal::OBB::To

Center of OBB.

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

• include/coal/BV/OBB.h