OBB.h

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#ifndef HPP_FCL_OBB_H
#define HPP_FCL_OBB_H
 
#include "hpp/fcl/data_types.h"
 
namespace hpp {
namespace fcl {
 
struct CollisionRequest;
 
 
struct HPP_FCL_DLLAPI OBB {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  Matrix3f axes;
 
  Vec3f To;
 
  Vec3f extent;
 
  OBB() : axes(Matrix3f::Zero()), To(Vec3f::Zero()), extent(Vec3f::Zero()) {}
 
  bool operator==(const OBB& other) const {
    return axes == other.axes && To == other.To && extent == other.extent;
  }
 
  bool operator!=(const OBB& other) const { return !(*this == other); }
 
  bool contain(const Vec3f& p) const;
 
  bool overlap(const OBB& other) const;
 
  bool overlap(const OBB& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const;
 
  FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
 
  OBB& operator+=(const Vec3f& p);
 
  OBB& operator+=(const OBB& other) {
    *this = *this + other;
    return *this;
  }
 
  OBB operator+(const OBB& other) const;
 
  inline FCL_REAL size() const { return extent.squaredNorm(); }
 
  inline const Vec3f& center() const { return To; }
 
  inline FCL_REAL width() const { return 2 * extent[0]; }
 
  inline FCL_REAL height() const { return 2 * extent[1]; }
 
  inline FCL_REAL depth() const { return 2 * extent[2]; }
 
  inline FCL_REAL volume() const { return width() * height() * depth(); }
};
 
HPP_FCL_DLLAPI OBB translate(const OBB& bv, const Vec3f& t);
 
HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1,
                            const OBB& b2);
 
HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1,
                            const OBB& b2, const CollisionRequest& request,
                            FCL_REAL& sqrDistLowerBound);
 
HPP_FCL_DLLAPI bool obbDisjoint(const Matrix3f& B, const Vec3f& T,
                                const Vec3f& a, const Vec3f& b);
}  // namespace fcl
 
}  // namespace hpp
 
#endif