RSS.h

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#ifndef HPP_FCL_RSS_H
#define HPP_FCL_RSS_H

#include <hpp/fcl/data_types.h>
#include <boost/math/constants/constants.hpp>

namespace hpp
{
namespace fcl
{

struct CollisionRequest;


class RSS
{
public:
  Matrix3f axes;

  Vec3f Tr;

  FCL_REAL length[2];

  FCL_REAL radius;


  bool contain(const Vec3f& p) const;

  bool overlap(const RSS& other) const;

  bool overlap(const RSS& other, const CollisionRequest&,
               FCL_REAL& sqrDistLowerBound) const
  {
    sqrDistLowerBound = sqrt (-1);
    return overlap (other);
  }

  FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;

  RSS& operator += (const Vec3f& p);

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

  RSS operator + (const RSS& other) const;


  inline FCL_REAL size() const
  {
    return (std::sqrt(length[0] * length[0] + length[1] * length[1]) + 2 * radius);
  }

  inline const Vec3f& center() const
  {
    return Tr;
  }

  inline FCL_REAL width() const
  {
    return length[0] + 2 * radius;
  }

  inline FCL_REAL height() const
  {
    return length[1] + 2 * radius;
  }

  inline FCL_REAL depth() const
  {
    return 2 * radius;
  }

  inline FCL_REAL volume() const
  {
    return (length[0] * length[1] * 2 * radius + 4 * boost::math::constants::pi<FCL_REAL>() * radius * radius * radius);
  }

  bool overlap(const RSS& other, RSS& /*overlap_part*/) const
  {
    return overlap(other);
  }
};

FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL);


bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2);

bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2,
             const CollisionRequest& request,
             FCL_REAL& sqrDistLowerBound);

}


} // namespace hpp

#endif