fcl » include » fcl » BV
OBBRSS.h

00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
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00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00037 #ifndef FCL_OBBRSS_H
00038 #define FCL_OBBRSS_H
00039 
00040 
00041 #include "fcl/BV/OBB.h"
00042 #include "fcl/BV/RSS.h"
00043 
00044 namespace fcl
00045 {
00046 
00047 
00049 class OBBRSS
00050 {
00051 public:
00052 
00054   OBB obb;
00055 
00057   RSS rss;
00058 
00060   bool overlap(const OBBRSS& other) const
00061   {
00062     return obb.overlap(other.obb);
00063   }
00064 
00066   bool overlap(const OBBRSS& other, OBBRSS& overlap_part) const
00067   {
00068     return overlap(other);
00069   }
00070 
00072   inline bool contain(const Vec3f& p) const
00073   {
00074     return obb.contain(p);
00075   }
00076 
00078   OBBRSS& operator += (const Vec3f& p) 
00079   {
00080     obb += p;
00081     rss += p;
00082     return *this;
00083   }
00084 
00086   OBBRSS& operator += (const OBBRSS& other)
00087   {
00088     *this = *this + other;
00089     return *this;
00090   }
00091 
00093   OBBRSS operator + (const OBBRSS& other) const
00094   {
00095     OBBRSS result;
00096     result.obb = obb + other.obb;
00097     result.rss = rss + other.rss;
00098     return result;
00099   }
00100 
00102   inline FCL_REAL width() const
00103   {
00104     return obb.width();
00105   }
00106 
00108   inline FCL_REAL height() const
00109   {
00110     return obb.height();
00111   }
00112 
00114   inline FCL_REAL depth() const
00115   {
00116     return obb.depth();
00117   }
00118 
00120   inline FCL_REAL volume() const
00121   {
00122     return obb.volume();
00123   }
00124 
00126   inline FCL_REAL size() const
00127   {
00128     return obb.size();
00129   }
00130 
00132   inline const Vec3f& center() const
00133   {
00134     return obb.center();
00135   }
00136 
00138   FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const
00139   {
00140     return rss.distance(other.rss, P, Q);
00141   }
00142 };
00143 
00145 OBBRSS translate(const OBBRSS& bv, const Vec3f& t);
00146 
00148 bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2);
00149 
00151 FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL);
00152 
00153 }
00154 
00155 
00156 #endif