A class for rectangle sphere-swept bounding volume. More...

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

Public Member Functions
bool	overlap (const RSS &other) const
	Check collision between two RSS. More...

bool	overlap (const RSS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
	Not implemented. More...

bool	overlap (const RSS &other, RSS &) const
	Check collision between two RSS and return the overlap part. More...

bool	contain (const Vec3f &p) const
	Check whether the RSS contains a point. More...

RSS &	operator+= (const Vec3f &p)
	A simple way to merge the RSS and a point, not compact. More...

RSS &	operator+= (const RSS &other)
	Merge the RSS and another RSS. More...

RSS	operator+ (const RSS &other) const
	Return the merged RSS of current RSS and the other one. More...

FCL_REAL	width () const
	Width of the RSS. More...

FCL_REAL	height () const
	Height of the RSS. More...

FCL_REAL	depth () const
	Depth of the RSS. More...

FCL_REAL	volume () const
	Volume of the RSS. More...

FCL_REAL	size () const
	Size of the RSS (used in BV_Splitter to order two RSSs) More...

const Vec3f &	center () const
	The RSS center. More...

FCL_REAL	distance (const RSS &other, Vec3f P=NULL, Vec3f Q=NULL) const
	the distance between two RSS; P and Q, if not NULL, return the nearest points More...

Public Attributes
Matrix3f	axes
	Orientation of RSS. More...

Vec3f	Tr
	Origin of the rectangle in RSS. More...

FCL_REAL	l [2]
	Side lengths of rectangle. More...

FCL_REAL	r
	Radius of sphere summed with rectangle to form RSS. More...

Detailed Description

A class for rectangle sphere-swept bounding volume.

Member Function Documentation

const Vec3f& hpp::fcl::RSS::center ( ) const

inline

The RSS center.

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

bool hpp::fcl::RSS::contain ( const Vec3f & p ) const

inline

Check whether the RSS contains a point.

Referenced by overlap().

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

inline

Depth of the RSS.

References r.

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

the distance between two RSS; P and Q, if not NULL, return the nearest points

Referenced by center(), and hpp::fcl::OBBRSS::distance().

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

inline

Height of the RSS.

References r.

RSS hpp::fcl::RSS::operator+ ( const RSS & other ) const

Return the merged RSS of current RSS and the other one.

Referenced by operator+=().

RSS& hpp::fcl::RSS::operator+= ( const Vec3f & p )

A simple way to merge the RSS and a point, not compact.

Todo:: This function may have some bug.

Referenced by overlap().

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

inline

Merge the RSS and another RSS.

References operator+().

bool hpp::fcl::RSS::overlap ( const RSS & other ) const

Check collision between two RSS.

Referenced by center(), and overlap().

bool hpp::fcl::RSS::overlap	(	const RSS &	other,
		const CollisionRequest &	,
		FCL_REAL &	sqrDistLowerBound
	)		const

inline

Not implemented.

References overlap().

bool hpp::fcl::RSS::overlap	(	const RSS &	other,
		RSS &
	)		const

inline

Check collision between two RSS and return the overlap part.

For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.

References contain(), operator+=(), and overlap().

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

inline

Size of the RSS (used in BV_Splitter to order two RSSs)

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

inline

Volume of the RSS.

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

inline

Width of the RSS.

References r.

Member Data Documentation

Matrix3f hpp::fcl::RSS::axes

Orientation of RSS.

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

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation