OBBRSS.h

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#ifndef COAL_OBBRSS_H
#define COAL_OBBRSS_H

#include "coal/BV/OBB.h"
#include "coal/BV/RSS.h"

namespace coal {

struct CollisionRequest;


struct COAL_DLLAPI OBBRSS {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 OBB obb;

 RSS rss;

 bool operator==(const OBBRSS& other) const {
 return obb == other.obb && rss == other.rss;
 }

 bool operator!=(const OBBRSS& other) const { return !(*this == other); }

 inline bool contain(const Vec3s& p) const { return obb.contain(p); }

 bool overlap(const OBBRSS& other) const { return obb.overlap(other.obb); }

 bool overlap(const OBBRSS& other, const CollisionRequest& request,
 CoalScalar& sqrDistLowerBound) const {
 return obb.overlap(other.obb, request, sqrDistLowerBound);
 }

 CoalScalar distance(const OBBRSS& other, Vec3s* P = NULL,
 Vec3s* Q = NULL) const {
 return rss.distance(other.rss, P, Q);
 }

 OBBRSS& operator+=(const Vec3s& p) {
 obb += p;
 rss += p;
 return *this;
 }

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

 OBBRSS operator+(const OBBRSS& other) const {
 OBBRSS result;
 result.obb = obb + other.obb;
 result.rss = rss + other.rss;
 return result;
 }

 inline CoalScalar size() const { return obb.size(); }

 inline const Vec3s& center() const { return obb.center(); }

 inline CoalScalar width() const { return obb.width(); }

 inline CoalScalar height() const { return obb.height(); }

 inline CoalScalar depth() const { return obb.depth(); }

 inline CoalScalar volume() const { return obb.volume(); }
};

inline bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBBRSS& b1,
 const OBBRSS& b2) {
 return overlap(R0, T0, b1.obb, b2.obb);
}

inline bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBBRSS& b1,
 const OBBRSS& b2, const CollisionRequest& request,
 CoalScalar& sqrDistLowerBound) {
 return overlap(R0, T0, b1.obb, b2.obb, request, sqrDistLowerBound);
}

inline CoalScalar distance(const Matrix3s& R0, const Vec3s& T0,
 const OBBRSS& b1, const OBBRSS& b2, Vec3s* P = NULL,
 Vec3s* Q = NULL) {
 return distance(R0, T0, b1.rss, b2.rss, P, Q);
}

} // namespace coal

#endif