OBBRSS.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef COAL_OBBRSS_H
#define COAL_OBBRSS_H
 
#include "coal/BV/OBB.h"
#include "coal/BV/RSS.h"
 
namespace coal {
 
struct CollisionRequest;
 
 
struct COAL_DLLAPI OBBRSS {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  OBB obb;
 
  RSS rss;
 
  bool operator==(const OBBRSS& other) const {
    return obb == other.obb && rss == other.rss;
  }
 
  bool operator!=(const OBBRSS& other) const { return !(*this == other); }
 
  inline bool contain(const Vec3s& p) const { return obb.contain(p); }
 
  bool overlap(const OBBRSS& other) const { return obb.overlap(other.obb); }
 
  bool overlap(const OBBRSS& other, const CollisionRequest& request,
               CoalScalar& sqrDistLowerBound) const {
    return obb.overlap(other.obb, request, sqrDistLowerBound);
  }
 
  CoalScalar distance(const OBBRSS& other, Vec3s* P = NULL,
                      Vec3s* Q = NULL) const {
    return rss.distance(other.rss, P, Q);
  }
 
  OBBRSS& operator+=(const Vec3s& p) {
    obb += p;
    rss += p;
    return *this;
  }
 
  OBBRSS& operator+=(const OBBRSS& other) {
    *this = *this + other;
    return *this;
  }
 
  OBBRSS operator+(const OBBRSS& other) const {
    OBBRSS result;
    result.obb = obb + other.obb;
    result.rss = rss + other.rss;
    return result;
  }
 
  inline CoalScalar size() const { return obb.size(); }
 
  inline const Vec3s& center() const { return obb.center(); }
 
  inline CoalScalar width() const { return obb.width(); }
 
  inline CoalScalar height() const { return obb.height(); }
 
  inline CoalScalar depth() const { return obb.depth(); }
 
  inline CoalScalar volume() const { return obb.volume(); }
};
 
inline bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBBRSS& b1,
                    const OBBRSS& b2) {
  return overlap(R0, T0, b1.obb, b2.obb);
}
 
inline bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBBRSS& b1,
                    const OBBRSS& b2, const CollisionRequest& request,
                    CoalScalar& sqrDistLowerBound) {
  return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
}
 
inline CoalScalar distance(const Matrix3s& R0, const Vec3s& T0,
                           const OBBRSS& b1, const OBBRSS& b2, Vec3s* P = NULL,
                           Vec3s* Q = NULL) {
  return distance(R0, T0, b1.rss, b2.rss, P, Q);
}
 
}  // namespace coal
 
#endif