coal::RSS Struct Reference

A class for rectangle sphere-swept bounding volume. More...

#include <coal/BV/RSS.h>

Public Member Functions
	RSS ()
bool	operator== (const RSS &other) const
	Equality operator.
bool	operator!= (const RSS &other) const
	Difference operator.
bool	contain (const Vec3s &p) const
	Check whether the RSS contains a point.
bool	overlap (const RSS &other) const
	Check collision between two RSS.
bool	overlap (const RSS &other, const CollisionRequest &, Scalar &sqrDistLowerBound) const
	Not implemented.
Scalar	distance (const RSS &other, Vec3s *P=NULL, Vec3s *Q=NULL) const
	the distance between two RSS; P and Q, if not NULL, return the nearest points
RSS &	operator+= (const Vec3s &p)
	A simple way to merge the RSS and a point, not compact.
RSS &	operator+= (const RSS &other)
	Merge the RSS and another RSS.
RSS	operator+ (const RSS &other) const
	Return the merged RSS of current RSS and the other one.
Scalar	size () const
	Size of the RSS (used in BV_Splitter to order two RSSs)
const Vec3s &	center () const
	The RSS center.
Scalar	width () const
	Width of the RSS.
Scalar	height () const
	Height of the RSS.
Scalar	depth () const
	Depth of the RSS.
Scalar	volume () const
	Volume of the RSS.
bool	overlap (const RSS &other, RSS &) const
	Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s	axes
	Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS. We assume that axis[0] corresponds to the axis with the longest length, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.
Vec3s	Tr
	Origin of the rectangle in RSS.
Scalar	length [2]
	Side lengths of rectangle.
Scalar	radius
	Radius of sphere summed with rectangle to form RSS.

Detailed Description

A class for rectangle sphere-swept bounding volume.

Constructor & Destructor Documentation

RSS()

coal::RSS::RSS ( )

inline

 

Default constructor with default values

Member Function Documentation

center()

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

inline

The RSS center.

contain()

bool coal::RSS::contain

(

const Vec3s &

p

)

const

Check whether the RSS contains a point.

depth()

Scalar coal::RSS::depth ( ) const

inline

Depth of the RSS.

distance()

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

the distance between two RSS; P and Q, if not NULL, return the nearest points

height()

Scalar coal::RSS::height ( ) const

inline

Height of the RSS.

operator!=()

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

inline

Difference operator.

operator+()

RSS coal::RSS::operator+

(

const RSS &

other

)

const

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

operator+=() [1/2]

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

inline

Merge the RSS and another RSS.

operator+=() [2/2]

RSS & coal::RSS::operator+=

(

const Vec3s &

p

)

A simple way to merge the RSS and a point, not compact.

Todo:

This function may have some bug.

operator==()

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

inline

Equality operator.

overlap() [1/3]

bool coal::RSS::overlap

(

const RSS &

other

)

const

Check collision between two RSS.

overlap() [2/3]

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

inline

Not implemented.

overlap() [3/3]

bool coal::RSS::overlap ( const RSS &  other, RSS &    ) const

inline

Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.

size()

Scalar coal::RSS::size ( ) const

inline

Size of the RSS (used in BV_Splitter to order two RSSs)

volume()

Scalar coal::RSS::volume ( ) const

inline

Volume of the RSS.

width()

Scalar coal::RSS::width ( ) const

inline

Width of the RSS.

Member Data Documentation

axes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s coal::RSS::axes

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

length

Scalar coal::RSS::length[2]

Side lengths of rectangle.

radius

Scalar coal::RSS::radius

Radius of sphere summed with rectangle to form RSS.

Tr

Vec3s coal::RSS::Tr

Origin of the rectangle in RSS.

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

• include/coal/BV/RSS.h