Package org.robwork.sdurw_geometry

Class OBBCollider

java.lang.Object

org.robwork.sdurw_geometry.BVColliderOBBColiderOBB

org.robwork.sdurw_geometry.OBBCollider

public class OBBCollider
extends BVColliderOBBColiderOBB

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".

Constructor Summary

Constructors

Constructor	Description
OBBCollider()	constructor
OBBCollider(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
boolean	collides(OBB obbA, OBB obbB, Transform3D aTb)	test if obbA intersects obbB.
void	delete()
static long	getCPtr(OBBCollider obj)

Methods inherited from class org.robwork.sdurw_geometry.BVColliderOBBColiderOBB

getCPtr, inCollision

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

OBBCollider

public OBBCollider(long cPtr,
                   boolean cMemoryOwn)

OBBCollider

public OBBCollider()

constructor

Method Detail

getCPtr

public static long getCPtr(OBBCollider obj)

delete

public void delete()

Overrides:

delete in class BVColliderOBBColiderOBB

collides

public boolean collides(OBB obbA,
                        OBB obbB,
                        Transform3D aTb)

test if obbA intersects obbB. The aTb transform describe
obbB relative to obbA's coordinate frame