Package org.robwork.sdurw_geometry

Class OBBCollider_f

java.lang.Object

org.robwork.sdurw_geometry.BVColliderOBBColiderOBB_f

org.robwork.sdurw_geometry.OBBCollider_f

public class OBBCollider_f
extends BVColliderOBBColiderOBB_f

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_f()	constructor
OBBCollider_f(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
boolean	collides(OBB_f obbA, OBB_f obbB, Transform3Df aTb)	test if obbA intersects obbB.
void	delete()
static long	getCPtr(OBBCollider_f obj)

Methods inherited from class org.robwork.sdurw_geometry.BVColliderOBBColiderOBB_f

getCPtr, inCollision

Methods inherited from class java.lang.Object

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

Constructor Detail

OBBCollider_f

public OBBCollider_f(long cPtr,
                     boolean cMemoryOwn)

OBBCollider_f

public OBBCollider_f()

constructor

Method Detail

getCPtr

public static long getCPtr(OBBCollider_f obj)

delete

public void delete()

Overrides:

delete in class BVColliderOBBColiderOBB_f

collides

public boolean collides(OBB_f obbA,
                        OBB_f obbB,
                        Transform3Df aTb)

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