coal::OBBRSS Struct Reference

Class merging the OBB and RSS, can handle collision and distance simultaneously. More...

#include <coal/BV/OBBRSS.h>

Collaboration diagram for coal::OBBRSS:

Public Member Functions
bool	operator== (const OBBRSS &other) const
	Equality operator. More...
bool	operator!= (const OBBRSS &other) const
	Difference operator. More...
bool	contain (const Vec3s &p) const
	Check whether the OBBRSS contains a point. More...
bool	overlap (const OBBRSS &other) const
	Check collision between two OBBRSS. More...
bool	overlap (const OBBRSS &other, const CollisionRequest &request, Scalar &sqrDistLowerBound) const
Scalar	distance (const OBBRSS &other, Vec3s *P=NULL, Vec3s *Q=NULL) const
	Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points. More...
OBBRSS &	operator+= (const Vec3s &p)
	Merge the OBBRSS and a point. More...
OBBRSS &	operator+= (const OBBRSS &other)
	Merge two OBBRSS. More...
OBBRSS	operator+ (const OBBRSS &other) const
	Merge two OBBRSS. More...
Scalar	size () const
	Size of the OBBRSS (used in BV_Splitter to order two OBBRSS) More...
const Vec3s &	center () const
	Center of the OBBRSS. More...
Scalar	width () const
	Width of the OBRSS. More...
Scalar	height () const
	Height of the OBBRSS. More...
Scalar	depth () const
	Depth of the OBBRSS. More...
Scalar	volume () const
	Volume of the OBBRSS. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW OBB	obb
	OBB member, for rotation. More...
RSS	rss
	RSS member, for distance. More...

Detailed Description

Class merging the OBB and RSS, can handle collision and distance simultaneously.

Member Function Documentation

center()

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

inline

Center of the OBBRSS.

contain()

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

inline

Check whether the OBBRSS contains a point.

depth()

Scalar coal::OBBRSS::depth ( ) const

inline

Depth of the OBBRSS.

distance()

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

inline

Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points.

height()

Scalar coal::OBBRSS::height ( ) const

inline

Height of the OBBRSS.

operator!=()

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

inline

Difference operator.

operator+()

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

inline

Merge two OBBRSS.

operator+=() [1/2]

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

inline

Merge two OBBRSS.

operator+=() [2/2]

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

inline

Merge the OBBRSS and a point.

operator==()

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

inline

Equality operator.

overlap() [1/2]

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

inline

Check collision between two OBBRSS.

overlap() [2/2]

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

inline

Check collision between two OBBRSS

Return values

sqrDistLowerBound

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

size()

Scalar coal::OBBRSS::size ( ) const

inline

Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)

volume()

Scalar coal::OBBRSS::volume ( ) const

inline

Volume of the OBBRSS.

width()

Scalar coal::OBBRSS::width ( ) const

inline

Width of the OBRSS.

Member Data Documentation

obb

EIGEN_MAKE_ALIGNED_OPERATOR_NEW OBB coal::OBBRSS::obb

OBB member, for rotation.

rss

RSS coal::OBBRSS::rss

RSS member, for distance.

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

• include/coal/BV/OBBRSS.h