OBB.h
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00001 /*
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00034 
00037 #ifndef FCL_OBB_H
00038 #define FCL_OBB_H
00039 
00040 
00041 #include "fcl/math/vec_3f.h"
00042 #include "fcl/math/matrix_3f.h"
00043 
00044 namespace fcl
00045 {
00046 
00048 class OBB
00049 {
00050 public:
00053   Vec3f axis[3];
00054 
00056   Vec3f To;
00057   
00059   Vec3f extent;
00060 
00062   bool overlap(const OBB& other) const;
00063 
00064   
00066   bool overlap(const OBB& other, OBB& overlap_part) const
00067   {
00068     return overlap(other);
00069   }
00070 
00072   bool contain(const Vec3f& p) const;
00073 
00075   OBB& operator += (const Vec3f& p);
00076 
00078   OBB& operator += (const OBB& other)
00079   {
00080      *this = *this + other;
00081      return *this;
00082   }
00083 
00085   OBB operator + (const OBB& other) const;
00086 
00088   inline FCL_REAL width() const
00089   {
00090     return 2 * extent[0];
00091   }
00092 
00094   inline FCL_REAL height() const
00095   {
00096     return 2 * extent[1];
00097   }
00098 
00100   inline FCL_REAL depth() const
00101   {
00102     return 2 * extent[2];
00103   }
00104 
00106   inline FCL_REAL volume() const
00107   {
00108     return width() * height() * depth();
00109   }
00110 
00112   inline FCL_REAL size() const
00113   {
00114     return extent.sqrLength();
00115   }
00116 
00118   inline const Vec3f& center() const
00119   {
00120     return To;
00121   }
00122 
00123 
00125   FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
00126 };
00127 
00128 
00130 OBB translate(const OBB& bv, const Vec3f& t);
00131 
00133 bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1, const OBB& b2);
00134 
00135 
00138 bool obbDisjoint(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b);
00139 }
00140 
00141 #endif
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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:30