OBB.h

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#ifndef HPP_FCL_OBB_H
#define HPP_FCL_OBB_H

#include <hpp/fcl/data_types.h>

namespace hpp
{
namespace fcl
{

struct CollisionRequest;


class OBB
{
public:
  Matrix3f axes;

  Vec3f To;
  
  Vec3f extent;

  bool contain(const Vec3f& p) const;

  bool overlap(const OBB& other) const;

  bool overlap(const OBB& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const;

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

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

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

  OBB operator + (const OBB& other) const;

  inline FCL_REAL size() const
  {
    return extent.squaredNorm();
  }

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

  inline FCL_REAL width() const
  {
    return 2 * extent[0];
  }

  inline FCL_REAL height() const
  {
    return 2 * extent[1];
  }

  inline FCL_REAL depth() const
  {
    return 2 * extent[2];
  }

  inline FCL_REAL volume() const
  {
    return width() * height() * depth();
  }
};


OBB translate(const OBB& bv, const Vec3f& t);

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

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


bool obbDisjoint(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b);
}

} // namespace hpp

#endif