fcl::OBB Class Reference

Oriented bounding box class. More...

#include <hpp/fcl/BV/OBB.h>

Collaboration diagram for fcl::OBB:

Public Member Functions
bool	overlap (const OBB &other) const
	Check collision between two OBB. More...
bool	overlap (const OBB &other, FCL_REAL &sqrDistLowerBound) const
	Check collision between two OBB. More...
bool	overlap (const OBB &other, OBB &overlap_part) const
	Check collision between two OBB and return the overlap part. For OBB, the overlap_part return value is NOT used as the overlap part of two obbs usually is not an obb. More...
bool	contain (const Vec3f &p) const
	Check whether the OBB contains a point. More...
OBB &	operator+= (const Vec3f &p)
	A simple way to merge the OBB and a point (the result is not compact). More...
OBB &	operator+= (const OBB &other)
	Merge the OBB and another OBB (the result is not compact). More...
OBB	operator+ (const OBB &other) const
	Return the merged OBB of current OBB and the other one (the result is not compact). More...
FCL_REAL	width () const
	Width of the OBB. More...
FCL_REAL	height () const
	Height of the OBB. More...
FCL_REAL	depth () const
	Depth of the OBB. More...
FCL_REAL	volume () const
	Volume of the OBB. More...
FCL_REAL	size () const
	Size of the OBB (used in BV_Splitter to order two OBBs) More...
const Vec3f &	center () const
	Center of the OBB. More...
FCL_REAL	distance (const OBB &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
	Distance between two OBBs, not implemented. More...

Public Attributes
Vec3f	axis [3]
	Orientation of OBB. More...
Vec3f	To
	Center of OBB. More...
Vec3f	extent
	Half dimensions of OBB. More...

Detailed Description

Oriented bounding box class.

Member Function Documentation

const Vec3f& fcl::OBB::center ( ) const

inline

Center of the OBB.

References To.

Referenced by fcl::OBBRSS::center().

bool fcl::OBB::contain

(

const Vec3f &

p

)

const

Check whether the OBB contains a point.

Referenced by fcl::OBBRSS::contain().

FCL_REAL fcl::OBB::depth ( ) const

inline

Depth of the OBB.

Referenced by fcl::OBBRSS::depth(), and volume().

FCL_REAL fcl::OBB::distance	(	const OBB &	other,
		Vec3f *	P = NULL,
		Vec3f *	Q = NULL
	)		const

Distance between two OBBs, not implemented.

FCL_REAL fcl::OBB::height ( ) const

inline

Height of the OBB.

Referenced by fcl::OBBRSS::height(), and volume().

OBB fcl::OBB::operator+

(

const OBB &

other

)

const

Return the merged OBB of current OBB and the other one (the result is not compact).

OBB& fcl::OBB::operator+=

(

const Vec3f &

p

)

A simple way to merge the OBB and a point (the result is not compact).

OBB& fcl::OBB::operator+= ( const OBB &  other )

inline

Merge the OBB and another OBB (the result is not compact).

bool fcl::OBB::overlap

(

const OBB &

other

)

const

Check collision between two OBB.

Returns

true if collision happens.

Referenced by fcl::OBBRSS::overlap(), and overlap().

bool fcl::OBB::overlap	(	const OBB &	other,
		FCL_REAL &	sqrDistLowerBound
	)		const

Check collision between two OBB.

Returns

true if collision happens.

Return values

sqrDistLowerBound

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

bool fcl::OBB::overlap ( const OBB &  other, OBB &  overlap_part  ) const

inline

Check collision between two OBB and return the overlap part. For OBB, the overlap_part return value is NOT used as the overlap part of two obbs usually is not an obb.

References overlap().

FCL_REAL fcl::OBB::size ( ) const

inline

Size of the OBB (used in BV_Splitter to order two OBBs)

References fcl::Vec3fX< T >::sqrLength().

Referenced by fcl::OBBRSS::size().

FCL_REAL fcl::OBB::volume ( ) const

inline

Volume of the OBB.

References depth(), height(), and width().

Referenced by fcl::OBBRSS::volume().

FCL_REAL fcl::OBB::width ( ) const

inline

Width of the OBB.

Referenced by volume(), and fcl::OBBRSS::width().

Member Data Documentation

Vec3f fcl::OBB::axis[3]

Orientation of OBB.

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

Vec3f fcl::OBB::extent

Half dimensions of OBB.

Vec3f fcl::OBB::To

Center of OBB.

Referenced by center().