SimTK::Geo::AlignedBox_< P > Class Template Reference

A 3d box aligned with an unspecified frame F and centered at a given point measured from that frame's origin. More...

Public Member Functions
	AlignedBox_ ()
	Construct an uninitialized AlignedBox object; the dimensions and location will be garbage. More...
	AlignedBox_ (const Vec3P &center, const Geo::Box_< P > &box)
	Construct an AlignedBox with the given box shape with the center located as given. More...
	AlignedBox_ (const Vec3P &center, const Vec3P &halfLengths)
	Construct an AlignedBox with the given center location and half-dimensions. More...
AlignedBox_ &	setCenter (const Vec3P &center)
	Change the center location of this box. More...
AlignedBox_ &	setHalfLengths (const Vec3P &halfLengths)
	Change the dimensions of this box. More...
const Vec3P &	getCenter () const
	Return the location of the center of this box (box frame origin). More...
Vec3P &	updCenter ()
	Return a writable reference to the center location of this box. More...
const Vec3P &	getHalfLengths () const
	Return the half-lengths of this box as a Vec3 from the center to the first quadrant vertex. More...
const Box_< P > &	getBox () const
Box_< P > &	updBox ()
bool	containsPoint (const Vec3P &pt_F) const
	Given a point measured and expressed in the base frame F, determine whether it is strictly contained in the box (just touching doesn't count). More...
AlignedBox_ &	stretchBoundary ()
	Stretch this box in place by a small amount to ensure that there will be no roundoff problems if this is used as a bounding box. More...

Detailed Description

template<class P>
class SimTK::Geo::AlignedBox_< P >

A 3d box aligned with an unspecified frame F and centered at a given point measured from that frame's origin.

The box frame B is aligned with F but the origin Bo is shifted from Fo.

Constructor & Destructor Documentation

AlignedBox_() [1/3]

template<class P>

SimTK::Geo::AlignedBox_< P >::AlignedBox_ ( )

inline

Construct an uninitialized AlignedBox object; the dimensions and location will be garbage.

AlignedBox_() [2/3]

template<class P>

SimTK::Geo::AlignedBox_< P >::AlignedBox_ ( const Vec3P &  center, const Geo::Box_< P > &  box  )

inline

Construct an AlignedBox with the given box shape with the center located as given.

AlignedBox_() [3/3]

template<class P>

SimTK::Geo::AlignedBox_< P >::AlignedBox_ ( const Vec3P &  center, const Vec3P &  halfLengths  )

inline

Construct an AlignedBox with the given center location and half-dimensions.

Member Function Documentation

setCenter()

template<class P>

AlignedBox_& SimTK::Geo::AlignedBox_< P >::setCenter ( const Vec3P &  center )

inline

Change the center location of this box.

setHalfLengths()

template<class P>

AlignedBox_& SimTK::Geo::AlignedBox_< P >::setHalfLengths ( const Vec3P &  halfLengths )

inline

Change the dimensions of this box.

getCenter()

template<class P>

const Vec3P& SimTK::Geo::AlignedBox_< P >::getCenter ( ) const

inline

Return the location of the center of this box (box frame origin).

updCenter()

template<class P>

Vec3P& SimTK::Geo::AlignedBox_< P >::updCenter ( )

inline

Return a writable reference to the center location of this box.

getHalfLengths()

template<class P>

const Vec3P& SimTK::Geo::AlignedBox_< P >::getHalfLengths ( ) const

inline

Return the half-lengths of this box as a Vec3 from the center to the first quadrant vertex.

getBox()

template<class P>

const Box_<P>& SimTK::Geo::AlignedBox_< P >::getBox ( ) const

inline

updBox()

template<class P>

Box_<P>& SimTK::Geo::AlignedBox_< P >::updBox ( )

inline

containsPoint()

template<class P>

bool SimTK::Geo::AlignedBox_< P >::containsPoint ( const Vec3P &  pt_F ) const

inline

Given a point measured and expressed in the base frame F, determine whether it is strictly contained in the box (just touching doesn't count).

Cost is about 8 flops.

stretchBoundary()

template<class P>

AlignedBox_& SimTK::Geo::AlignedBox_< P >::stretchBoundary ( )

inline

Stretch this box in place by a small amount to ensure that there will be no roundoff problems if this is used as a bounding box.

The amount to stretch depends on the default tolerance for this precision, the dimensions, and the position of the box in space. A very large box, or a box that is very far from the origin, must be stretched more than a small one at the origin. Cost is 6 flops.

See also

Geo class for tolerance information.

---

The documentation for this class was generated from the following files:

• Geo.h
• Geo_Box.h