OBBRSS.h

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#ifndef HPP_FCL_OBBRSS_H
#define HPP_FCL_OBBRSS_H


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

namespace hpp
{
namespace fcl
{

  struct CollisionRequest;


class OBBRSS
{
public:

  OBB obb;

  RSS rss;

  inline bool contain(const Vec3f& p) const
  {
    return obb.contain(p);
  }

  bool overlap(const OBBRSS& other) const
  {
    return obb.overlap(other.obb);
  }

  bool overlap(const OBBRSS& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const
  {
    return obb.overlap(other.obb, request, sqrDistLowerBound);
  }

  FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const
  {
    return rss.distance(other.rss, P, Q);
  }

  OBBRSS& operator += (const Vec3f& p) 
  {
    obb += p;
    rss += p;
    return *this;
  }

  OBBRSS& operator += (const OBBRSS& other)
  {
    *this = *this + other;
    return *this;
  }

  OBBRSS operator + (const OBBRSS& other) const
  {
    OBBRSS result;
    result.obb = obb + other.obb;
    result.rss = rss + other.rss;
    return result;
  }

  inline FCL_REAL size() const
  {
    return obb.size();
  }

  inline const Vec3f& center() const
  {
    return obb.center();
  }

  inline FCL_REAL width() const
  {
    return obb.width();
  }

  inline FCL_REAL height() const
  {
    return obb.height();
  }

  inline FCL_REAL depth() const
  {
    return obb.depth();
  }

  inline FCL_REAL volume() const
  {
    return obb.volume();
  }
};

inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2)
{
  return overlap(R0, T0, b1.obb, b2.obb);
}

inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,
                    const OBBRSS& b2, const CollisionRequest& request,
                FCL_REAL& sqrDistLowerBound)
{
  return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
}

inline FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL)
{
  return distance(R0, T0, b1.rss, b2.rss, P, Q);
}

}


} // namespace hpp

#endif