# habitat_sim.geo.OBB class

This is an OBB.

## Methods

def closest_point(self, arg0: numpy.ndarray[numpy.float32[3, 1]], /) -> numpy.ndarray[numpy.float32[3, 1]]
Return closest point to p within OBB. If p is inside return p.
def contains(self, arg0: numpy.ndarray[numpy.float32[3, 1]], arg1: float, /) -> bool
Returns whether world coordinate point p is contained in this OBB within threshold distance epsilon.
def distance(self, arg0: numpy.ndarray[numpy.float32[3, 1]], /) -> float
Returns distance to p from closest point on OBB surface (0 if point p is inside box)
def rotate(self, arg0: magnum.Quaternion, /) -> OBB
Rotate this OBB by the given rotation and return reference to self.
def to_aabb(self, /) -> BBox
Returns an axis aligned bounding box bounding this OBB.

## Special methods

def __init__(self, center: numpy.ndarray[numpy.float32[3, 1]], dimensions: numpy.ndarray[numpy.float32[3, 1]], rotation: magnum.Quaternion) -> None
def __init__(self, arg0: BBox, /) -> None

## Properties

center: numpy.ndarray[numpy.float32[3, 1]] get
Centroid of this OBB.
half_extents: numpy.ndarray[numpy.float32[3, 1]] get
Half-extents of this OBB (dimensions).
local_to_world: numpy.ndarray[numpy.float32[4, 4]] get
Transform from local [0,1]^3 coordinates to world coordinates.
rotation: numpy.ndarray[numpy.float32[4, 1]] get
Quaternion representing rotation of this OBB.
sizes: numpy.ndarray[numpy.float32[3, 1]] get
The dimensions of this OBB in its own frame.
volume: float get
The volume of this bbox.
world_to_local: numpy.ndarray[numpy.float32[4, 4]] get
Transform from world coordinates to local [0,1]^3 coordinates.