coal::RSS Struct Reference

A class for rectangle sphere-swept bounding volume. More...

#include <coal/BV/RSS.h>

Public Member Functions
	RSS ()
bool	operator== (const RSS &other) const
	Equality operator.
bool	operator!= (const RSS &other) const
	Difference operator.
bool	contain (const Vec3s &p) const
	Check whether the RSS contains a point.
bool	overlap (const RSS &other) const
	Check collision between two RSS.
bool	overlap (const RSS &other, const CollisionRequest &, CoalScalar &sqrDistLowerBound) const
	Not implemented.
CoalScalar	distance (const RSS &other, Vec3s *P=NULL, Vec3s *Q=NULL) const
	the distance between two RSS; P and Q, if not NULL, return the nearest points
RSS &	operator+= (const Vec3s &p)
	A simple way to merge the RSS and a point, not compact.
RSS &	operator+= (const RSS &other)
	Merge the RSS and another RSS.
RSS	operator+ (const RSS &other) const
	Return the merged RSS of current RSS and the other one.
CoalScalar	size () const
	Size of the RSS (used in BV_Splitter to order two RSSs)
const Vec3s &	center () const
	The RSS center.
CoalScalar	width () const
	Width of the RSS.
CoalScalar	height () const
	Height of the RSS.
CoalScalar	depth () const
	Depth of the RSS.
CoalScalar	volume () const
	Volume of the RSS.
bool	overlap (const RSS &other, RSS &) const
	Check collision between two RSS and return the overlap part. For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Matrix3s	axes
	Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS. We assume that axis[0] corresponds to the axis with the longest length, axis[1] corresponds to the shorter one and axis[2] corresponds to the shortest one.
Vec3s	Tr
	Origin of the rectangle in RSS.
CoalScalar	length [2]
	Side lengths of rectangle.
CoalScalar	radius
	Radius of sphere summed with rectangle to form RSS.

Detailed Description

A class for rectangle sphere-swept bounding volume.

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The documentation for this struct was generated from the following file:

• include/coal/BV/RSS.h