OrientedBoundingBox.h

Go to the documentation of this file.

#ifndef SimTK_SIMMATH_ORIENTED_BOUNDING_BOX_H_
#define SimTK_SIMMATH_ORIENTED_BOUNDING_BOX_H_
 
/* -------------------------------------------------------------------------- *
 *                        Simbody(tm): SimTKmath                              *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2008-12 Stanford University and the Authors.        *
 * Authors: Peter Eastman                                                     *
 * Contributors:                                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */
 
#include "SimTKcommon.h"
#include "simmath/internal/common.h"
 
namespace SimTK {
 
class SimTK_SIMMATH_EXPORT OrientedBoundingBox {
public:
    OrientedBoundingBox();
    OrientedBoundingBox(const Transform& transform, const Vec3& size);
    explicit OrientedBoundingBox(const Vector_<Vec3>& points);
    const Transform& getTransform() const;
    const Vec3& getSize() const;
    bool containsPoint(const Vec3& point) const;
    bool intersectsBox(const OrientedBoundingBox& box) const;
    bool intersectsRay(const Vec3& origin, const UnitVec3& direction, 
                       Real& distance) const;
    Vec3 findNearestPoint(const Vec3& position) const;
    void getCorners(Vec3 corners[8]) const;
private:
    Real calculateVolume(const Vector_<Vec3>& points, const Rotation& rotation);
    Transform transform;
    Vec3 size;
};
 
SimTK_SIMMATH_EXPORT OrientedBoundingBox 
operator*(const Transform& t, const OrientedBoundingBox& box);
 
} // namespace SimTK
 
#endif // SimTK_SIMMATH_ORIENTED_BOUNDING_BOX_H_