template<class TDataTypes>
class collisionobbcapsule::geometry::TOBB< TDataTypes >
An OBB model is a set of OBBs. It is linked to a rigid mechanical object. Each frame of the rigid mechanical object represents the frame of one OBB. So an OBB is represented by its frame which orients it, a center and 3 extents. A point P is inside the OBB obb if and only if P = obb.center() + a*obb.axis(0) + b*obb.axis(1) + c*obb.axis(2) with -obb.extent(0) <= a <= obb.extent(0), -obb.extent(1) <= b <= obb.extent(1), -obb.extent(2) <= c <= obb.extent(2). (obb.axis(i) is the local frame axis for i-th dimension)
|
| | TOBB (ParentModel *model, Index index) |
| |
| | TOBB (const core::CollisionElementIterator &i) |
| |
| Coord | axis (int i) const |
| |
| void | axes (Coord *v_axes) const |
| |
| Real | extent (int i) const |
| |
| const Coord & | extents () const |
| |
| const Coord & | center () const |
| |
| const Quaternion & | orientation () const |
| |
| const Coord & | v () const |
| |
| Coord | localCoordinates (const Coord &c) const |
| |
| Coord | generalCoordinates (const Coord &c) const |
| |
| void | vertices (std::vector< Coord > &vs) const |
| |
| void | showVertices () const |
| |
| bool | onSurface (const Coord &p) const |
| |
| | TCollisionElementIterator (Model *model=nullptr, Index index=0) |
| |
| | TCollisionElementIterator (Model *model, Index index, VIterator it, VIterator itend) |
| |
| | TCollisionElementIterator (Model *model, VIterator it, VIterator itend) |
| |
| bool | isActive (core::CollisionModel *cm=nullptr) const |
| |
| bool | operator== (const TCollisionElementIterator< Model2 > &i) const |
| |
| bool | operator== (const TCollisionElementIterator< Model2 > &i) const |
| |
| bool | operator!= (const TCollisionElementIterator< Model2 > &i) const |
| |
| bool | operator!= (const TCollisionElementIterator< Model2 > &i) const |
| |
| TCollisionElementIterator & | operator+= (int n) |
| |
| TCollisionElementIterator & | operator+= (int n) |
| |
| TCollisionElementIterator | operator+ (int n) const |
| |
| TCollisionElementIterator | operator+ (int n) const |
| |
| bool | valid () const |
| |
| bool | valid () const |
| |
| Model * | getCollisionModel () const |
| |
| Model * | getCollisionModel () const |
| |
| std::pair< CollisionElementIterator, CollisionElementIterator > | getInternalChildren () const |
| |
| std::pair< CollisionElementIterator, CollisionElementIterator > | getInternalChildren () const |
| |
| std::pair< CollisionElementIterator, CollisionElementIterator > | getExternalChildren () const |
| |
| std::pair< CollisionElementIterator, CollisionElementIterator > | getExternalChildren () const |
| |
| bool | isLeaf () const |
| |
| bool | isLeaf () const |
| |
| bool | canCollideWith (const TCollisionElementIterator< Model > &elem) const |
| |
| bool | canCollideWith (const TCollisionElementIterator< Model > &elem) const |
| |
| SReal | getContactDistance () const |
| |
| SReal | getContactDistance () const |
| |
| SReal | getContactStiffness () const |
| |
| SReal | getContactStiffness () const |
| |
| SReal | getContactFriction () const |
| |
| SReal | getContactFriction () const |
| |
| void | draw (const core::visual::VisualParams *vparams) |
| |
| void | draw (const core::visual::VisualParams *vparams) |
| |
| | BaseCollisionElementIterator (Index index=0) |
| |
| | BaseCollisionElementIterator (Index index, VIterator it, VIterator itend) |
| |
| | BaseCollisionElementIterator (VIterator it, VIterator itend) |
| |
| void | next () |
| |
| BaseCollisionElementIterator & | operator++ () |
| |
| BaseCollisionElementIterator | operator++ (int) |
| |
| BaseCollisionElementIterator & | operator+= (int n) |
| |
| BaseCollisionElementIterator | operator+ (int n) const |
| |
| Index | getIndex () const |
| |
| const VIterator & | getVIterator () const |
| |
| const VIterator & | getVIteratorEnd () const |
| |
| void | next () |
| |
| BaseCollisionElementIterator & | operator++ () |
| |
| BaseCollisionElementIterator | operator++ (int) |
| |
| BaseCollisionElementIterator & | operator+= (int n) |
| |
| BaseCollisionElementIterator | operator+ (int n) const |
| |
| Index | getIndex () const |
| |
| const VIterator & | getVIterator () const |
| |
| const VIterator & | getVIteratorEnd () const |
| |