OBB.h

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#ifndef COAL_OBB_H
#define COAL_OBB_H

#include "coal/data_types.h"

namespace coal {

struct CollisionRequest;


struct COAL_DLLAPI OBB {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 Matrix3s axes;

 Vec3s To;

 Vec3s extent;

 OBB() : axes(Matrix3s::Zero()), To(Vec3s::Zero()), extent(Vec3s::Zero()) {}

 bool operator==(const OBB& other) const {
 return axes == other.axes && To == other.To && extent == other.extent;
 }

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

 bool contain(const Vec3s& p) const;

 bool overlap(const OBB& other) const;

 bool overlap(const OBB& other, const CollisionRequest& request,
 CoalScalar& sqrDistLowerBound) const;

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

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

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

 OBB operator+(const OBB& other) const;

 inline CoalScalar size() const { return extent.squaredNorm(); }

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

 inline CoalScalar width() const { return 2 * extent[0]; }

 inline CoalScalar height() const { return 2 * extent[1]; }

 inline CoalScalar depth() const { return 2 * extent[2]; }

 inline CoalScalar volume() const { return width() * height() * depth(); }
};

COAL_DLLAPI OBB translate(const OBB& bv, const Vec3s& t);

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

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

COAL_DLLAPI bool obbDisjoint(const Matrix3s& B, const Vec3s& T, const Vec3s& a,
 const Vec3s& b);
} // namespace coal

#endif