Simbody  3.5
OrientedBoundingBox.h
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1 #ifndef SimTK_SIMMATH_ORIENTED_BOUNDING_BOX_H_
2 #define SimTK_SIMMATH_ORIENTED_BOUNDING_BOX_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm): SimTKmath *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2008-12 Stanford University and the Authors. *
13  * Authors: Peter Eastman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
27 #include "SimTKcommon.h"
29 
30 namespace SimTK {
31 
43 public:
51  OrientedBoundingBox(const Transform& transform, const Vec3& size);
55  explicit OrientedBoundingBox(const Vector_<Vec3>& points);
59  const Transform& getTransform() const;
63  const Vec3& getSize() const;
67  bool containsPoint(const Vec3& point) const;
71  bool intersectsBox(const OrientedBoundingBox& box) const;
82  bool intersectsRay(const Vec3& origin, const UnitVec3& direction,
83  Real& distance) const;
88  Vec3 findNearestPoint(const Vec3& position) const;
94  void getCorners(Vec3 corners[8]) const;
95 private:
96  Real calculateVolume(const Vector_<Vec3>& points, const Rotation& rotation);
97  Transform transform;
98  Vec3 size;
99 };
100 
102 operator*(const Transform& t, const OrientedBoundingBox& box);
103 
104 } // namespace SimTK
105 
106 #endif // SimTK_SIMMATH_ORIENTED_BOUNDING_BOX_H_
This is the vector class intended to appear in user code for large, variable size column vectors...
Definition: BigMatrix.h:171
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
This class represents a rectangular box with arbitrary position and orientation.
Definition: OrientedBoundingBox.h:42
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
Matrix_< E > operator*(const MatrixBase< E > &l, const typename CNT< E >::StdNumber &r)
Definition: BigMatrix.h:605
This is the header file that every Simmath compilation unit should include first. ...
#define SimTK_SIMMATH_EXPORT
Definition: SimTKmath/include/simmath/internal/common.h:64