An axis-aligned bounding box. More...

#include <AABB.h>

Inheritance diagram for Moby::AABB:

Public Member Functions
template<class InputIterator >
	AABB (InputIterator begin, InputIterator end)
	Constructs an axis-aligned bounding box using a set of points. More...

virtual void	transform (const Ravelin::Transform3d &T, BV *result) const
	Transforms the OBB using the given transform.

virtual bool	outside (const Point3d &point, double tol=NEAR_ZERO) const
	Determines whether a point is outside the bounding volume.

virtual bool	intersects (const LineSeg3 &seg, double &tmin, double tmax, Point3d &q) const
	Determines whether a line segment intersects the bounding volume.

virtual std::ostream &	to_vrml (std::ostream &out, const Ravelin::Pose3d &T) const
	Sends this AABB to VRML.

virtual BVPtr	calc_swept_BV (CollisionGeometryPtr g, const Ravelin::SVelocityd &v) const
	Constructs a velocity expanded OBB using the AABB.

virtual double	calc_volume () const
	Calculates the volume of this AABB.

virtual boost::shared_ptr < const Ravelin::Pose3d >	get_relative_pose () const
	Gets the associated pose for this bounding volume.

virtual Point3d	get_lower_bounds () const
	Gets the lower bounds for this AABB using an OBB.

virtual Point3d	get_upper_bounds () const
	Gets the upper bounds for this AABB using an OBB.

OBB	get_OBB () const
	Gets the AABB as an OBB.

AABB &	operator= (const AABB &a)
	Copies an AABB.

template<class InputIterator >
	AABB (InputIterator begin, InputIterator end)
	Constructs an axis-aligned bounding box using a set of points. More...

Public Member Functions inherited from Moby::BV
BVPtr	get_this ()

boost::shared_ptr< const BV >	get_this () const

bool	is_leaf () const

template<class OutputIterator >
OutputIterator	get_all_BVs (OutputIterator begin) const
	Gets all BV nodes. More...

template<class OutputIterator >
OutputIterator	get_all_leafs (OutputIterator begin) const
	Gets all leaf nodes.

template<class OutputIterator >
OutputIterator	get_all_BVs (OutputIterator begin) const
	Gets all BV nodes. More...

template<class OutputIterator >
OutputIterator	get_all_leafs (OutputIterator begin) const
	Gets all leaf nodes.

template<class OutputIterator >
OutputIterator	intersect_BV_trees (BVPtr a, BVPtr b, const Ravelin::Transform3d &aTb, const Ravelin::Transform3d &bTa, OutputIterator output_begin)
	Intersects two BV trees; returns list of all leaf-level intersecting BVs. More...

Static Public Member Functions
static bool	intersects (const AABB &a, const AABB &b)
	Determines whether two AABBs overlap.

static bool	intersects (const AABB &a, const AABB &b, const Ravelin::Transform3d &aTb)

static bool	outside (const AABB &a, const Point3d &point, double tol=NEAR_ZERO)
	Determines whether a point is outside of a AABB.

static bool	intersects (const AABB &a, const LineSeg3 &seg, double &tmin, double tmax, Point3d &q)
	Determines whether an OBB and a line/ray/line segment intersect. More...

static void	get_closest_point (const AABB &a, const Point3d &p, Point3d &closest)
	Gets the closest point on the AABB to a point.

static double	get_farthest_point (const AABB &a, const Point3d &p, Point3d &farthest)
	Gets the farthest point on the AABB to a point. More...

Static Public Member Functions inherited from Moby::BV
static bool	intersects (BVPtr a, BVPtr b)
	Convenience method.

static bool	intersects (BVPtr a, BVPtr b, const Ravelin::Transform3d &T)
	Convenience method.

static double	calc_distance (BVPtr a, BVPtr b, Point3d &cp1, Point3d &cp2)
	Convenience method.

static double	calc_distance (BVPtr a, BVPtr b, const Ravelin::Transform3d &aTb, Point3d &cp1, Point3d &cp2)
	Convenience method.

static bool	intersects (const BV a, const BV b)
	Computes whether two abstract bounding volumes intersect.

static bool	intersects (const BV a, const BV b, const Ravelin::Transform3d &T)

static double	calc_distance (const BV a, const BV b, Point3d &cp1, Point3d &cp2)
	Computes the distance between two abstract bounding volumes and stores the closest points. More...

static double	calc_distance (const BV a, const BV b, const Ravelin::Transform3d &aTb, Point3d &cp1, Point3d &cp2)

template<class OutputIterator >
static OutputIterator	intersect_BV_trees (BVPtr a, BVPtr b, const Ravelin::Transform3d &aTb, const Ravelin::Transform3d &bTa, OutputIterator output_begin)
	Intersects two BV trees; returns list of all leaf-level intersecting BVs. More...

Public Attributes
Point3d	minp
	The lower corner of the AABB.

Point3d	maxp
	The upper corner of the AABB;.

Public Attributes inherited from Moby::BV
boost::shared_ptr< void >	userdata
	Userdata for the BV.

CollisionGeometryPtr	geom
	The collision geometry associated with this bounding volume.

std::list< BVPtr >	children
	The children of this BV.

Detailed Description

An axis-aligned bounding box.

Constructor & Destructor Documentation

template<class InputIterator >

Moby::AABB::AABB	(	InputIterator	begin,
		InputIterator	end
	)

Constructs an axis-aligned bounding box using a set of points.

Parameters

begin	an iterator to the beginning of a container of type Ravelin::Vector3
end	an iterator to the end of a container of type Ravelin::Vector3

template<class InputIterator >

Moby::AABB::AABB	(	InputIterator	begin,
		InputIterator	end
	)

Constructs an axis-aligned bounding box using a set of points.

Parameters

begin	an iterator to the beginning of a container of type Ravelin::Vector3
end	an iterator to the end of a container of type Ravelin::Vector3

Member Function Documentation

double AABB::get_farthest_point	(	const AABB &	a,
		const Point3d &	p,
		Point3d &	farthest
	)

static

Gets the farthest point on the AABB to a point.

Returns the squared distance to the farthest point

References get_relative_pose(), maxp, and minp.

bool AABB::intersects	(	const AABB &	a,
		const LineSeg3 &	seg,
		double &	tmin,
		double	tmax,
		Point3d &	q
	)

static

Determines whether an OBB and a line/ray/line segment intersect.

When intersecting, return intersection distance tmin and point q of intersection.

Parameters

a	the OBB to check for intersection
seg	the line segment to check for intersection
tmin	on entry, contains the minimum value of the line parameter- for a line segment, this will generally be 0; when an intersection occurs, this will contain the distance of intersection from the tmin that was input on return
tmax	the maximum value of the line parameter- for a line segment, this will generally be 1
q	contains the point of intersection, if any, on return

Returns: true if the OBB and line intersect, false otherwise

Note: code adapted from [Ericson, 2005], pp. 180-181

References maxp, and minp.

The documentation for this class was generated from the following files:

/home/drum/Moby/include/Moby/AABB.h
/home/drum/Moby/include/Moby/AABB.inl
/home/drum/Moby/src/AABB.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation