Simbody  3.8
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 *
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23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
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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 
103 
104 } // namespace SimTK
105 
106 #endif // SimTK_SIMMATH_ORIENTED_BOUNDING_BOX_H_
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