@brief Check whether two AABB are overlapped along specific axis

@brief box half space, a, b, c = +/- edge size n^T * (R(o + a v1 + b v2 + c v3) + T) <= d so (R^T n) (a v1 + b v2 + c v3) + n * T <= d check whether

@brief box half space, a, b, c = +/- edge size n^T * (R(o + a v1 + b v2 + c v3) + T) ~ d so (R^T n) (a v1 + b v2 + c v3) + n * T ~ d check whether d

@brief clear the result

@brief clear the hash table

@brief cylinder-plane intersect n^T (R (r * cosa * v1 + r * sina * v2 + h * v3) + T) ~ d need one point to be positive and one to be negative (n^T * v

@brief Get the number of bv in the BVH

@brief init the Variance

@brief whether the object is uncertain

Compute the point on a line segment that is the closest point on the segment to to another point. The code is inspired by the explanation given by Dan

@brief Get the current time point

@brief return whether plane collides with halfspace if the separation plane of the halfspace is parallel with the plane return code 1, if the plane's

@brief Check if the profiler is counting time or not

@brief the number of objects managed by the manager

@brief transform the octree into a bunch of boxes; uncertainty information is kept in the boxes. However, we only keep the occupied boxes (i.e., the b

@brief translate the center of AABB by t

@brief distance between two octrees

@brief collision between two octrees

@brief compute the AABB in world space

@brief Compute the split rule according to a subset of geometry and the corresponding BV node

given n points in the plane (array p, of size 2*n), generate m points that best represent the whole set. the definition of 'best' here is not predeter

@brief whether the manager is empty

\brief Compute the bounding volume extent and center for a set or subset of points. * The bounding volume axes are known. */

\brief Compute the bounding volume extent and center for a set or subset of points. * The bounding volume axes are known. */