hpp::fcl::OBB Class Reference

Oriented bounding box class. More...

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

Public Member Functions
bool	overlap (const OBB &other) const
	Check collision between two OBB. More...
bool	overlap (const OBB &other, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound) const
	Check collision between two OBB. More...
bool	overlap (const OBB &other, OBB &) 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
Matrix3f	axes
	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& hpp::fcl::OBB::center ( ) const

inline

Center of the OBB.

References distance(), hpp::fcl::obbDisjoint(), overlap(), To, and hpp::fcl::translate().

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

bool hpp::fcl::OBB::contain

(

const Vec3f &

p

)

const

Check whether the OBB contains a point.

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

FCL_REAL hpp::fcl::OBB::depth ( ) const

inline

Depth of the OBB.

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

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

Distance between two OBBs, not implemented.

Referenced by center().

FCL_REAL hpp::fcl::OBB::height ( ) const

inline

Height of the OBB.

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

OBB hpp::fcl::OBB::operator+

(

const OBB &

other

)

const

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

Referenced by operator+=().

OBB& hpp::fcl::OBB::operator+=

(

const Vec3f &

p

)

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

Referenced by overlap().

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

inline

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

References operator+().

bool hpp::fcl::OBB::overlap

(

const OBB &

other

)

const

Check collision between two OBB.

Returns

true if collision happens.

Referenced by center(), hpp::fcl::OBBRSS::overlap(), overlap(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

bool hpp::fcl::OBB::overlap	(	const OBB &	other,
		const CollisionRequest &	request,
		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 hpp::fcl::OBB::overlap ( const OBB &  other, OBB &    ) 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 contain(), operator+=(), and overlap().

FCL_REAL hpp::fcl::OBB::size ( ) const

inline

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

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

FCL_REAL hpp::fcl::OBB::volume ( ) const

inline

Volume of the OBB.

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

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

FCL_REAL hpp::fcl::OBB::width ( ) const

inline

Width of the OBB.

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

Member Data Documentation

Matrix3f hpp::fcl::OBB::axes

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 hpp::fcl::OBB::extent

Half dimensions of OBB.

Vec3f hpp::fcl::OBB::To

Center of OBB.

Referenced by center().