1 #ifndef SimTK_SIMMATH_ORIENTED_BOUNDING_BOX_H_
2 #define SimTK_SIMMATH_ORIENTED_BOUNDING_BOX_H_
83 Real& distance)
const;
Includes internal headers providing declarations for the basic SimTK Core classes,...
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
This class represents a rectangular box with arbitrary position and orientation.
Definition: OrientedBoundingBox.h:42
OrientedBoundingBox(const Transform &transform, const Vec3 &size)
Create an OrientedBoundingBox.
bool intersectsBox(const OrientedBoundingBox &box) const
Determine whether this box intersects another bounding box at any point.
const Vec3 & getSize() const
Get the dimensions of the box.
OrientedBoundingBox(const Vector_< Vec3 > &points)
Create an OrientedBoundingBox which encloses a set of points.
bool intersectsRay(const Vec3 &origin, const UnitVec3 &direction, Real &distance) const
Determine whether a ray intersects this bounding box.
Vec3 findNearestPoint(const Vec3 &position) const
Given a point in space, find the point inside the bounding box which is nearest to it.
const Transform & getTransform() const
Get the position and orientation of the box.
bool containsPoint(const Vec3 &point) const
Determine whether a point is inside the box.
void getCorners(Vec3 corners[8]) const
Get the locations of the eight corners of the box.
This is the vector class intended to appear in user code for large, variable size column vectors.
Definition: Vector_.h:50
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Matrix_< E > operator*(const MatrixBase< E > &l, const typename CNT< E >::StdNumber &r)
Definition: BigMatrix.h:605
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:607