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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2015, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Jia Pan */ |
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#ifndef HPP_FCL_OBB_H |
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#define HPP_FCL_OBB_H |
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#include <hpp/fcl/data_types.h> |
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namespace hpp { |
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namespace fcl { |
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struct CollisionRequest; |
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/// @addtogroup Bounding_Volume |
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/// @{ |
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/// @brief Oriented bounding box class |
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struct HPP_FCL_DLLAPI OBB { |
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/// @brief Orientation of OBB. axis[i] is the ith column of the orientation |
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/// matrix for the box; it is also the i-th principle direction of the box. We |
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/// assume that axis[0] corresponds to the axis with the longest box edge, |
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/// axis[1] corresponds to the shorter one and axis[2] corresponds to the |
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/// shortest one. |
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Matrix3f axes; |
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/// @brief Center of OBB |
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Vec3f To; |
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/// @brief Half dimensions of OBB |
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Vec3f extent; |
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✓✗✓✗ ✓✗ |
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OBB() : axes(Matrix3f::Zero()), To(Vec3f::Zero()), extent(Vec3f::Zero()) {} |
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/// @brief Equality operator |
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bool operator==(const OBB& other) const { |
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✓✗✓✗ ✓✗ |
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return axes == other.axes && To == other.To && extent == other.extent; |
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} |
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/// @brief Difference operator |
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bool operator!=(const OBB& other) const { return !(*this == other); } |
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/// @brief Check whether the OBB contains a point. |
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bool contain(const Vec3f& p) const; |
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/// Check collision between two OBB |
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/// @return true if collision happens. |
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bool overlap(const OBB& other) const; |
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/// Check collision between two OBB |
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/// @return true if collision happens. |
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/// @retval sqrDistLowerBound squared lower bound on distance between boxes if |
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/// they do not overlap. |
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bool overlap(const OBB& other, const CollisionRequest& request, |
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FCL_REAL& sqrDistLowerBound) const; |
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/// @brief Distance between two OBBs, not implemented. |
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FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const; |
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/// @brief A simple way to merge the OBB and a point (the result is not |
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/// compact). |
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OBB& operator+=(const Vec3f& p); |
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/// @brief Merge the OBB and another OBB (the result is not compact). |
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OBB& operator+=(const OBB& other) { |
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*this = *this + other; |
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return *this; |
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} |
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/// @brief Return the merged OBB of current OBB and the other one (the result |
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/// is not compact). |
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OBB operator+(const OBB& other) const; |
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/// @brief Size of the OBB (used in BV_Splitter to order two OBBs) |
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inline FCL_REAL size() const { return extent.squaredNorm(); } |
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/// @brief Center of the OBB |
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inline const Vec3f& center() const { return To; } |
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/// @brief Width of the OBB. |
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inline FCL_REAL width() const { return 2 * extent[0]; } |
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/// @brief Height of the OBB. |
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inline FCL_REAL height() const { return 2 * extent[1]; } |
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/// @brief Depth of the OBB |
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inline FCL_REAL depth() const { return 2 * extent[2]; } |
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/// @brief Volume of the OBB |
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inline FCL_REAL volume() const { return width() * height() * depth(); } |
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}; |
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/// @brief Translate the OBB bv |
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HPP_FCL_DLLAPI OBB translate(const OBB& bv, const Vec3f& t); |
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/// @brief Check collision between two obbs, b1 is in configuration (R0, T0) and |
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/// b2 is in identity. |
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HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1, |
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const OBB& b2); |
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/// @brief Check collision between two obbs, b1 is in configuration (R0, T0) and |
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/// b2 is in identity. |
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HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1, |
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const OBB& b2, const CollisionRequest& request, |
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FCL_REAL& sqrDistLowerBound); |
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/// Check collision between two boxes |
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/// @param B, T orientation and position of first box, |
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/// @param a half dimensions of first box, |
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/// @param b half dimensions of second box. |
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/// The second box is in identity configuration. |
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HPP_FCL_DLLAPI bool obbDisjoint(const Matrix3f& B, const Vec3f& T, |
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const Vec3f& a, const Vec3f& b); |
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} // namespace fcl |
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} // namespace hpp |
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#endif |