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#ifndef WFMATH_ROT_BOX_H
00027
#define WFMATH_ROT_BOX_H
00028
00029
#include <wfmath/const.h>
00030
#include <wfmath/vector.h>
00031
#include <wfmath/point.h>
00032
#include <wfmath/rotmatrix.h>
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#include <wfmath/axisbox.h>
00034
#include <wfmath/ball.h>
00035
#include <wfmath/intersect_decls.h>
00036
00037
namespace WFMath {
00038
00039
template<const
int dim>
class RotBox;
00040
00041
template<const
int dim>
00042 std::ostream& operator<<(std::ostream& os, const RotBox<dim>& r);
00043
template<const
int dim>
00044 std::istream& operator>>(std::istream& is, RotBox<dim>& r);
00045
00047
00051
template<const
int dim>
00052 class RotBox
00053 {
00054
public:
00056 RotBox() {}
00058
00063 RotBox(
const Point<dim>& p,
const Vector<dim>& size,
00064
const RotMatrix<dim>& orientation) : m_corner0(p), m_size(size),
00065 m_orient(orientation) {}
00067 RotBox(
const RotBox& b) : m_corner0(b.m_corner0), m_size(b.m_size),
00068 m_orient(b.m_orient) {}
00069
00070 ~
RotBox() {}
00071
00072
friend std::ostream& operator<< <dim>(std::ostream& os,
const RotBox& r);
00073
friend std::istream& operator>> <dim>(std::istream& is, RotBox& r);
00074
00075 RotBox& operator=(
const RotBox& s);
00076
00077
bool isEqualTo(
const RotBox& b,
double epsilon = WFMATH_EPSILON)
const;
00078
00079
bool operator==(
const RotBox& b)
const {
return isEqualTo(b);}
00080
bool operator!=(
const RotBox& b)
const {
return !isEqualTo(b);}
00081
00082
bool isValid()
const {
return m_corner0.isValid() && m_size.isValid()
00083 && m_orient.isValid();}
00084
00085
00086
00087
int numCorners()
const {
return 1 << dim;}
00088 Point<dim> getCorner(
int i)
const;
00089 Point<dim> getCenter()
const {
return m_corner0 +
Prod(m_size / 2, m_orient);}
00090
00092 const Point<dim>&
corner0()
const {
return m_corner0;}
00094 Point<dim>&
corner0() {
return m_corner0;}
00096 const Vector<dim>&
size()
const {
return m_size;}
00098 Vector<dim>&
size() {
return m_size;}
00100 const RotMatrix<dim>&
orientation()
const {
return m_orient;}
00102 RotMatrix<dim>&
orientation() {
return m_orient;}
00103
00104
00105
00106
RotBox& shift(
const Vector<dim>& v)
00107 {m_corner0 += v;
return *
this;}
00108 RotBox& moveCornerTo(
const Point<dim>& p,
int corner)
00109 {
return shift(p - getCorner(corner));}
00110
RotBox& moveCenterTo(
const Point<dim>& p)
00111 {
return shift(p - getCenter());}
00112
00113
RotBox& rotateCorner(
const RotMatrix<dim>& m,
int corner)
00114 {rotatePoint(m, getCorner(corner));
return *
this;}
00115
RotBox& rotateCenter(
const RotMatrix<dim>& m)
00116 {rotatePoint(m, getCenter());
return *
this;}
00117
RotBox& rotatePoint(
const RotMatrix<dim>& m,
const Point<dim>& p)
00118 {m_orient =
Prod(m_orient, m); m_corner0.rotate(m, p);
return *
this;}
00119
00120
00121 RotBox<3>& rotateCorner(
const Quaternion& q,
int corner)
00122 {rotatePoint(q, getCorner(corner));
return *
this;}
00123 RotBox<3>& rotateCenter(
const Quaternion& q)
00124 {rotatePoint(q, getCenter());
return *
this;}
00125 RotBox<3>& rotatePoint(
const Quaternion& q,
const Point<3>& p)
00126 {m_orient = m_orient.rotate(q); m_corner0.rotate(q, p);
return *
this;}
00127
00128
00129
00130 AxisBox<dim> boundingBox() const;
00131 Ball<dim> boundingSphere()
const
00132
{
return Ball<dim>(getCenter(), m_size.mag() / 2);}
00133 Ball<dim> boundingSphereSloppy()
const
00134
{
return Ball<dim>(getCenter(), m_size.sqrMag() / 2);}
00135
00136
RotBox toParentCoords(
const Point<dim>& origin,
00137
const RotMatrix<dim>& rotation = RotMatrix<dim>().identity())
const
00138
{
return RotBox(m_corner0.toParentCoords(origin, rotation), m_size,
00139 m_orient * rotation);}
00140
RotBox toParentCoords(
const AxisBox<dim>& coords)
const
00141
{
return RotBox(m_corner0.toParentCoords(coords), m_size, m_orient);}
00142
RotBox toParentCoords(
const RotBox<dim>& coords)
const
00143
{
return RotBox(m_corner0.toParentCoords(coords), m_size,
00144 m_orient * coords.m_orient);}
00145
00146
00147
00148
00149
00150
RotBox toLocalCoords(
const Point<dim>& origin,
00151
const RotMatrix<dim>& rotation = RotMatrix<dim>().identity())
const
00152
{
return RotBox(m_corner0.toLocalCoords(origin, rotation), m_size,
00153 rotation * m_orient);}
00154
RotBox toLocalCoords(
const AxisBox<dim>& coords)
const
00155
{
return RotBox(m_corner0.toLocalCoords(coords), m_size, m_orient);}
00156
RotBox toLocalCoords(
const RotBox<dim>& coords)
const
00157
{
return RotBox(m_corner0.toLocalCoords(coords), m_size,
00158 coords.m_orient * m_orient);}
00159
00160
00161 RotBox<3> toParentCoords(
const Point<3>& origin,
const Quaternion& rotation)
const
00162
{
return RotBox<3>(m_corner0.toParentCoords(origin, rotation), m_size,
00163 m_orient.rotate(rotation));}
00164 RotBox<3> toLocalCoords(
const Point<3>& origin,
const Quaternion& rotation)
const
00165
{
return RotBox<3>(m_corner0.toLocalCoords(origin, rotation), m_size,
00166 m_orient.rotate(rotation.inverse()));}
00167
00168
friend bool Intersect<dim>(
const RotBox& r,
const Point<dim>& p,
bool proper);
00169
friend bool Contains<dim>(
const Point<dim>& p,
const RotBox& r,
bool proper);
00170
00171
friend bool Intersect<dim>(
const RotBox& r,
const AxisBox<dim>& b,
bool proper);
00172
friend bool Contains<dim>(
const RotBox& r,
const AxisBox<dim>& b,
bool proper);
00173
friend bool Contains<dim>(
const AxisBox<dim>& b,
const RotBox& r,
bool proper);
00174
00175
friend bool Intersect<dim>(
const RotBox& r,
const Ball<dim>& b,
bool proper);
00176
friend bool Contains<dim>(
const RotBox& r,
const Ball<dim>& b,
bool proper);
00177
friend bool Contains<dim>(
const Ball<dim>& b,
const RotBox& r,
bool proper);
00178
00179
friend bool Intersect<dim>(
const RotBox& r,
const Segment<dim>& s,
bool proper);
00180
friend bool Contains<dim>(
const RotBox& r,
const Segment<dim>& s,
bool proper);
00181
friend bool Contains<dim>(
const Segment<dim>& s,
const RotBox& r,
bool proper);
00182
00183
friend bool Intersect<dim>(
const RotBox& r1,
const RotBox& r2,
bool proper);
00184
friend bool Contains<dim>(
const RotBox& outer,
const RotBox& inner,
bool proper);
00185
00186
friend bool Intersect<dim>(
const Polygon<dim>& p,
const RotBox& r,
bool proper);
00187
friend bool Contains<dim>(
const Polygon<dim>& p,
const RotBox& r,
bool proper);
00188
friend bool Contains<dim>(
const RotBox& r,
const Polygon<dim>& p,
bool proper);
00189
00190
private:
00191
00192 Point<dim> m_corner0;
00193 Vector<dim> m_size;
00194 RotMatrix<dim> m_orient;
00195 };
00196
00197 }
00198
00199
#include <wfmath/rotbox_funcs.h>
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#endif // WFMATH_ROT_BOX_H