.. _program_listing_file_include_coal_BV_OBB.h:

Program Listing for File OBB.h
==============================

|exhale_lsh| :ref:`Return to documentation for file <file_include_coal_BV_OBB.h>` (``include/coal/BV/OBB.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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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,
                  Scalar& sqrDistLowerBound) const;
   
     Scalar 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 Scalar size() const { return extent.squaredNorm(); }
   
     inline const Vec3s& center() const { return To; }
   
     inline Scalar width() const { return 2 * extent[0]; }
   
     inline Scalar height() const { return 2 * extent[1]; }
   
     inline Scalar depth() const { return 2 * extent[2]; }
   
     inline Scalar 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,
                            Scalar& sqrDistLowerBound);
   
   COAL_DLLAPI bool obbDisjoint(const Matrix3s& B, const Vec3s& T, const Vec3s& a,
                                const Vec3s& b);
   }  // namespace coal
   
   #endif