hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
AABB.h
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35 
38 #ifndef HPP_FCL_AABB_H
39 #define HPP_FCL_AABB_H
40 
41 #include <hpp/fcl/data_types.h>
42 
43 namespace hpp
44 {
45 namespace fcl
46 {
47 
48 struct CollisionRequest;
49 
53 
55 class AABB
56 {
57 public:
62 
64  AABB();
65 
67  AABB(const Vec3f& v) : min_(v), max_(v)
68  {
69  }
70 
72  AABB(const Vec3f& a, const Vec3f&b) : min_(a.cwiseMin(b)),
73  max_(a.cwiseMax(b))
74  {
75  }
76 
78  AABB(const AABB& core, const Vec3f& delta) : min_(core.min_ - delta),
79  max_(core.max_ + delta)
80  {
81  }
82 
84  AABB(const Vec3f& a, const Vec3f& b, const Vec3f& c) : min_(a.cwiseMin(b).cwiseMin(c)),
85  max_(a.cwiseMax(b).cwiseMax(c))
86  {
87  }
88 
92 
94  inline bool contain(const Vec3f& p) const
95  {
96  if(p[0] < min_[0] || p[0] > max_[0]) return false;
97  if(p[1] < min_[1] || p[1] > max_[1]) return false;
98  if(p[2] < min_[2] || p[2] > max_[2]) return false;
99 
100  return true;
101  }
102 
104  inline bool overlap(const AABB& other) const
105  {
106  if(min_[0] > other.max_[0]) return false;
107  if(min_[1] > other.max_[1]) return false;
108  if(min_[2] > other.max_[2]) return false;
109 
110  if(max_[0] < other.min_[0]) return false;
111  if(max_[1] < other.min_[1]) return false;
112  if(max_[2] < other.min_[2]) return false;
113 
114  return true;
115  }
116 
118  bool overlap(const AABB& other, const CollisionRequest& request,
119  FCL_REAL& sqrDistLowerBound) const;
120 
122  FCL_REAL distance(const AABB& other) const;
123 
125  FCL_REAL distance(const AABB& other, Vec3f* P, Vec3f* Q) const;
126 
128  inline AABB& operator += (const Vec3f& p)
129  {
130  min_ = min_.cwiseMin(p);
131  max_ = max_.cwiseMax(p);
132  return *this;
133  }
134 
136  inline AABB& operator += (const AABB& other)
137  {
138  min_ = min_.cwiseMin(other.min_);
139  max_ = max_.cwiseMax(other.max_);
140  return *this;
141  }
142 
144  inline AABB operator + (const AABB& other) const
145  {
146  AABB res(*this);
147  return res += other;
148  }
149 
151  inline FCL_REAL size() const
152  {
153  return (max_ - min_).squaredNorm();
154  }
155 
157  inline Vec3f center() const
158  {
159  return (min_ + max_) * 0.5;
160  }
161 
163  inline FCL_REAL width() const
164  {
165  return max_[0] - min_[0];
166  }
167 
169  inline FCL_REAL height() const
170  {
171  return max_[1] - min_[1];
172  }
173 
175  inline FCL_REAL depth() const
176  {
177  return max_[2] - min_[2];
178  }
179 
181  inline FCL_REAL volume() const
182  {
183  return width() * height() * depth();
184  }
185 
187 
189  inline bool contain(const AABB& other) const
190  {
191  return (other.min_[0] >= min_[0]) && (other.max_[0] <= max_[0]) && (other.min_[1] >= min_[1]) && (other.max_[1] <= max_[1]) && (other.min_[2] >= min_[2]) && (other.max_[2] <= max_[2]);
192  }
193 
195  inline bool overlap(const AABB& other, AABB& overlap_part) const
196  {
197  if(!overlap(other))
198  {
199  return false;
200  }
201 
202  overlap_part.min_ = min_.cwiseMax(other.min_);
203  overlap_part.max_ = max_.cwiseMin(other.max_);
204  return true;
205  }
206 
208  inline AABB& expand(const Vec3f& delta)
209  {
210  min_ -= delta;
211  max_ += delta;
212  return *this;
213  }
214 
216  inline AABB& expand(const AABB& core, FCL_REAL ratio)
217  {
218  min_ = min_ * ratio - core.min_;
219  max_ = max_ * ratio - core.max_;
220  return *this;
221  }
222 };
223 
225 static inline AABB translate(const AABB& aabb, const Vec3f& t)
226 {
227  AABB res(aabb);
228  res.min_ += t;
229  res.max_ += t;
230  return res;
231 }
232 
233 static inline AABB rotate(const AABB& aabb, const Matrix3f& R)
234 {
235  AABB res (R * aabb.min_);
236  Vec3f corner (aabb.min_);
237  const std::size_t bit[3] = { 1, 2, 4 };
238  for (std::size_t ic = 1; ic < 8; ++ic) { // ic = 0 corresponds to aabb.min_. Skip it.
239  for (std::size_t i = 0; i < 3; ++i) {
240  corner[i] = (ic && bit[i]) ? aabb.max_[i] : aabb.min_[i];
241  }
242  res += R * corner;
243  }
244  return res;
245 }
246 
248 bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1, const AABB& b2);
249 
251 bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
252  const AABB& b2, const CollisionRequest& request,
253  FCL_REAL& sqrDistLowerBound);
254 }
255 
256 } // namespace hpp
257 
258 #endif
Vec3f min_
The min point in the AABB.
Definition: AABB.h:59
FCL_REAL height() const
Height of the AABB.
Definition: AABB.h:169
bool overlap(const AABB &other) const
Check whether two AABB are overlap.
Definition: AABB.h:104
Vec3f center() const
Center of the AABB.
Definition: AABB.h:157
bool contain(const AABB &other) const
Check whether the AABB contains another AABB.
Definition: AABB.h:189
Main namespace.
Definition: AABB.h:43
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:74
AABB(const Vec3f &a, const Vec3f &b)
Creating an AABB with two endpoints a and b.
Definition: AABB.h:72
FCL_REAL depth() const
Depth of the AABB.
Definition: AABB.h:175
bool overlap(const AABB &other, AABB &overlap_part) const
Check whether two AABB are overlap and return the overlap part.
Definition: AABB.h:195
FCL_REAL size() const
Size of the AABB (used in BV_Splitter to order two AABBs)
Definition: AABB.h:151
AABB()
Creating an AABB with zero size (low bound +inf, upper bound -inf)
request to the collision algorithm
Definition: collision_data.h:150
double FCL_REAL
Definition: data_types.h:68
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:55
AABB & operator+=(const Vec3f &p)
Merge the AABB and a point.
Definition: AABB.h:128
Vec3f max_
The max point in the AABB.
Definition: AABB.h:61
AABB & expand(const AABB &core, FCL_REAL ratio)
expand the aabb by increase the thickness of the plate by a ratio
Definition: AABB.h:216
FCL_REAL volume() const
Volume of the AABB.
Definition: AABB.h:181
FCL_REAL width() const
Width of the AABB.
Definition: AABB.h:163
AABB(const AABB &core, const Vec3f &delta)
Creating an AABB centered as core and is of half-dimension delta.
Definition: AABB.h:78
AABB(const Vec3f &v)
Creating an AABB at position v with zero size.
Definition: AABB.h:67
FCL_REAL distance(const AABB &other) const
Distance between two AABBs.
bool contain(const Vec3f &p) const
Check whether the AABB contains a point.
Definition: AABB.h:94
AABB(const Vec3f &a, const Vec3f &b, const Vec3f &c)
Creating an AABB contains three points.
Definition: AABB.h:84
AABB & expand(const Vec3f &delta)
expand the half size of the AABB by delta, and keep the center unchanged.
Definition: AABB.h:208
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:73
AABB operator+(const AABB &other) const
Return the merged AABB of current AABB and the other one.
Definition: AABB.h:144