OBBToleranceCollider (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw_geometry.BVColliderOBBToleranceCollider
- - org.robwork.sdurw_geometry.OBBToleranceCollider

public class OBBToleranceCollider
extends BVColliderOBBToleranceCollider

class for testing if two Oriented Bounding Boxes are overlapping

Constructor Summary

Constructors
Constructor Description

OBBToleranceCollider()
constructor

OBBToleranceCollider(long cPtr, boolean cMemoryOwn)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`boolean`	`collides(OBB obbA, OBB obbB, Transform3D aTb)`	test if obbA is closer than tolerance to obbB.
`boolean`	`collides(OBB obbA, OBB obbB, Transform3D aTb, double tolerance)`	test if obbA is closer than tolerance to obbB.
`void`	`delete()`
`static long`	`getCPtr(OBBToleranceCollider obj)`
`void`	`setTolerance(double tolerance)`	set the tolerance of the collider

Methods inherited from class org.robwork.sdurw_geometry.BVColliderOBBToleranceCollider
getCPtr, inCollision

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - OBBToleranceCollider
```
public OBBToleranceCollider(long cPtr,
                            boolean cMemoryOwn)
```
  - OBBToleranceCollider
```
public OBBToleranceCollider()
```
    constructor
- Method Detail
  - getCPtr
```
public static long getCPtr(OBBToleranceCollider obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class BVColliderOBBToleranceCollider
  - setTolerance
```
public void setTolerance(double tolerance)
```
    set the tolerance of the collider
    
    Parameters:
    
    tolerance - [in] meters
  - collides
```
public boolean collides(OBB obbA,
                        OBB obbB,
                        Transform3D aTb)
```
    test if obbA is closer than tolerance to obbB. The aTb transform describe
    obbB relative to obbA's coordinate frame. This method is approximate and the obb's
    may lie up to sqrt(tolerance^2+tolerance^2) away from each other.
  - collides
```
public boolean collides(OBB obbA,
                        OBB obbB,
                        Transform3D aTb,
                        double tolerance)
```
    test if obbA is closer than tolerance to obbB. The aTb transform describe
    obbB relative to obbA's coordinate frame. This method is approximate and the obb's
    may lie up to sqrt(tolerance^2+tolerance^2) away from each other.