#include <OBB.h>
Public Member Functions | |
| bool | overlap (const OBB &other) const |
| Check collision between two OBB, return true if collision happens. | |
| bool | overlap (const OBB &other, OBB &overlap_part) const |
| Check collision between two OBB and return the overlap part. For OBB, the overlap_part return value is NOT used as the overlap part of two obbs usually is not an obb. | |
| bool | contain (const Vec3f &p) const |
| Check whether the OBB contains a point. | |
| OBB & | operator+= (const Vec3f &p) |
| A simple way to merge the OBB and a point (the result is not compact). | |
| OBB & | operator+= (const OBB &other) |
| Merge the OBB and another OBB (the result is not compact). | |
| OBB | operator+ (const OBB &other) const |
| Return the merged OBB of current OBB and the other one (the result is not compact). | |
| FCL_REAL | width () const |
| Width of the OBB. | |
| FCL_REAL | height () const |
| Height of the OBB. | |
| FCL_REAL | depth () const |
| Depth of the OBB. | |
| FCL_REAL | volume () const |
| Volume of the OBB. | |
| FCL_REAL | size () const |
| Size of the OBB (used in BV_Splitter to order two OBBs). | |
| const Vec3f & | center () const |
| Center of the OBB. | |
| FCL_REAL | distance (const OBB &other, Vec3f *P=NULL, Vec3f *Q=NULL) const |
| Distance between two OBBs, not implemented. | |
Public Attributes | |
| Vec3f | axis [3] |
| Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i-th principle direction of the box. We assume that axis[0] corresponds to the axis with the longest box edge, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one. | |
| Vec3f | To |
| Center of OBB. | |
| Vec3f | extent |
| Half dimensions of OBB. | |
Definition at line 48 of file OBB.h.
| bool fcl::OBB::overlap | ( | const OBB & | other | ) | const |
