RSS.h

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#ifndef COAL_RSS_H
#define COAL_RSS_H

#include "coal/data_types.h"

#include <boost/math/constants/constants.hpp>

namespace coal {

struct CollisionRequest;


struct COAL_DLLAPI RSS {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 Matrix3s axes;

 Vec3s Tr;

 CoalScalar length[2];

 CoalScalar radius;

 RSS() : axes(Matrix3s::Zero()), Tr(Vec3s::Zero()), radius(-1) {
 length[0] = 0;
 length[1] = 0;
 }

 bool operator==(const RSS& other) const {
 return axes == other.axes && Tr == other.Tr &&
 length[0] == other.length[0] && length[1] == other.length[1] &&
 radius == other.radius;
 }

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

 bool contain(const Vec3s& p) const;

 bool overlap(const RSS& other) const;

 bool overlap(const RSS& other, const CollisionRequest&,
 CoalScalar& sqrDistLowerBound) const {
 sqrDistLowerBound = sqrt(-1);
 return overlap(other);
 }

 CoalScalar distance(const RSS& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;

 RSS& operator+=(const Vec3s& p);

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

 RSS operator+(const RSS& other) const;

 inline CoalScalar size() const {
 return (std::sqrt(length[0] * length[0] + length[1] * length[1]) +
 2 * radius);
 }

 inline const Vec3s& center() const { return Tr; }

 inline CoalScalar width() const { return length[0] + 2 * radius; }

 inline CoalScalar height() const { return length[1] + 2 * radius; }

 inline CoalScalar depth() const { return 2 * radius; }

 inline CoalScalar volume() const {
 return (length[0] * length[1] * 2 * radius +
 4 * boost::math::constants::pi<CoalScalar>() * radius * radius *
 radius);
 }

 bool overlap(const RSS& other, RSS& /*overlap_part*/) const {
 return overlap(other);
 }
};

COAL_DLLAPI CoalScalar distance(const Matrix3s& R0, const Vec3s& T0,
 const RSS& b1, const RSS& b2, Vec3s* P = NULL,
 Vec3s* Q = NULL);

COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
 const RSS& b2);

COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
 const RSS& b2, const CollisionRequest& request,
 CoalScalar& sqrDistLowerBound);

} // namespace coal

#endif