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

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

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...

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...

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	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	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...

bool	overlap (const RSS &other, RSS &) const
	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. More...

Public Attributes
Matrix3f	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. More...

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

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

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

Detailed Description

A class for rectangle sphere-swept bounding volume.

The documentation for this class was generated from the following file:

Public Member Functions