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/** \author Jia Pan */
#ifndef FCL_RSS_H
#define FCL_RSS_H
#include
#include
#include
#include
namespace fcl
{
/// @brief A class for rectangle sphere-swept bounding volume
class RSS
{
public:
/// @brief 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.
Vec3f axis[3];
/// @brief Origin of the rectangle in RSS
Vec3f Tr;
/// @brief Side lengths of rectangle
FCL_REAL l[2];
/// @brief Radius of sphere summed with rectangle to form RSS
FCL_REAL r;
/// @brief Check collision between two RSS
bool overlap(const RSS& other) const;
/// Not implemented
bool overlap(const RSS& /*other*/, FCL_REAL& /*sqrDistLowerBound*/) const
{
throw std::runtime_error ("Not implemented.");
return false;
}
/// @brief 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.
bool overlap(const RSS& other, RSS& /*overlap_part*/) const
{
return overlap(other);
}
/// @brief Check whether the RSS contains a point
inline bool contain(const Vec3f& p) const;
/// @brief A simple way to merge the RSS and a point, not compact.
/// @todo This function may have some bug.
RSS& operator += (const Vec3f& p);
/// @brief Merge the RSS and another RSS
inline RSS& operator += (const RSS& other)
{
*this = *this + other;
return *this;
}
/// @brief Return the merged RSS of current RSS and the other one
RSS operator + (const RSS& other) const;
/// @brief Width of the RSS
inline FCL_REAL width() const
{
return l[0] + 2 * r;
}
/// @brief Height of the RSS
inline FCL_REAL height() const
{
return l[1] + 2 * r;
}
/// @brief Depth of the RSS
inline FCL_REAL depth() const
{
return 2 * r;
}
/// @brief Volume of the RSS
inline FCL_REAL volume() const
{
return (l[0] * l[1] * 2 * r + 4 * boost::math::constants::pi() * r * r * r);
}
/// @brief Size of the RSS (used in BV_Splitter to order two RSSs)
inline FCL_REAL size() const
{
return (std::sqrt(l[0] * l[0] + l[1] * l[1]) + 2 * r);
}
/// @brief The RSS center
inline const Vec3f& center() const
{
return Tr;
}
/// @brief the distance between two RSS; P and Q, if not NULL, return the nearest points
FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
};
/// @brief Translate the RSS bv
RSS translate(const RSS& bv, const Vec3f& t);
/// @brief distance between two RSS bounding volumes
/// P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points
/// Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)
FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL);
/// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.
bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2);
}
#endif