esp::geo::OBB class

#include <esp/geo/OBB.h>

Constructors, destructors, conversion operators

OBB() defaulted explicit

OBB(const Mn::Vector3& center, const Mn::Vector3& dimensions, const Mn::Quaternion& rotation) explicit

OBB(const Mn::Range3D& aabb) explicit

Public functions

auto center() const -> Mn::Vector3

Returns centroid of this OBB.

auto sizes() const -> Mn::Vector3

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 -> Mn::Vector3

Returns half-extents of this OBB (dimensions)

auto rotation() const -> Mn::Quaternion

Returns quaternion representing rotation of this OBB.

auto worldToLocal() const -> const Mn::Matrix4&

Return Mn::Matrix4 from world coordinates to local [0,1]^3 coordinates.

auto localToWorld() const -> const Mn::Matrix4&

Return Mn::Matrix4 from local [0,1]^3 coordinates to world coordinates.

auto toAABB() const -> Mn::Range3D

Returns an axis aligned bounding box bounding this OBB.

auto distance(const Mn::Vector3& p) const -> float

auto closestPoint(const Mn::Vector3& p) const -> Mn::Vector3

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

auto contains(const Mn::Vector3& p, float epsilon = 1e-6f) const -> bool

auto rotate(const Mn::Quaternion& rotation) -> OBB&

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

Protected functions

void recomputeTransforms()

Protected variables

Mn::Vector3 center_

Mn::Vector3 halfExtents_

Mn::Quaternion rotation_

Mn::Matrix4 localToWorld_

Mn::Matrix4 worldToLocal_

Function documentation