esp::geo::OBB class

#include <esp/geo/OBB.h>

Constructors, destructors, conversion operators

OBB() explicit

OBB(const vec3f& center, const vec3f& dimensions, const quatf& rotation) explicit

OBB(const box3f& aabb) explicit

Public functions

auto center() const -> vec3f

Returns centroid of this OBB.

auto sizes() const -> vec3f

Returns the dimensions of this OBB in its own frame of reference.

auto volume() const -> float

Return the volume of this bbox.

auto halfExtents() const -> vec3f

Returns half-extents of this OBB (dimensions)

auto rotation() const -> quatf

Returns quaternion representing rotation of this OBB.

auto worldToLocal() const -> const Transform&

Return Transform from world coordinates to local [0,1]^3 coordinates.

auto localToWorld() const -> const Transform&

Return Transform from local [0,1]^3 coordinates to world coordinates.

auto toAABB() const -> box3f

Returns an axis aligned bounding box bounding this OBB.

auto distance(const vec3f& p) const -> float

auto closestPoint(const vec3f& p) const -> vec3f

Return closest point to p within OBB. If p is inside return p.

auto contains(const vec3f& p, float epsilon = 1e-6f) const -> bool

auto rotate(const quatf& rotation) -> OBB&

Rotate this OBB by the given rotation and return reference to self.

Protected functions

void recomputeTransforms()

Protected variables

vec3f center_

vec3f halfExtents_

quatf rotation_

Transform localToWorld_

Transform worldToLocal_

Function documentation