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RobWorkProject
23.9.11-
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class for testing if two Oriented Bounding Boxes (OBBs) are overlapping. The method used is based on the seperating axis theorem. Please see the article "OBBTree: A Hierarchical Structure for Rapid Interference Detection". More...
#include <OBBCollider.hpp>
Inherits BVCollider< OBBCollider< double >, rw::geometry::OBB< double > >.
Public Member Functions | |
OBBCollider () | |
constructor | |
virtual | ~OBBCollider () |
destructor | |
bool | collides (const rw::geometry::OBB< T > &obbA, const rw::geometry::OBB< T > &obbB, const rw::math::Transform3D< T > &aTb) |
test if obbA intersects obbB. The aTb transform describe obbB relative to obbA's coordinate frame | |
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BVCollider () | |
constructor | |
virtual | ~BVCollider () |
destructor | |
bool | inCollision (const rw::geometry::OBB< double > &bvA, const rw::geometry::OBB< double > &bvB, const rw::math::Transform3D< value_type > &aTb) |
test if two bounding volumes are colliding More... | |
Additional Inherited Members | |
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typedef rw::geometry::OBB< double > | BVType |
typedef BVTYPE::value_type | value_type |
class for testing if two Oriented Bounding Boxes (OBBs) are overlapping. The method used is based on the seperating axis theorem. Please see the article "OBBTree: A Hierarchical Structure for Rapid Interference Detection".