Box.hh

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/*
 * Copyright (C) 2018 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_MATH_BOX_HH_
#define IGNITION_MATH_BOX_HH_

#include <ignition/math/config.hh>
#include <ignition/math/MassMatrix3.hh>
#include <ignition/math/Material.hh>
#include <ignition/math/Plane.hh>
#include <ignition/math/Vector3.hh>

#include "ignition/math/detail/WellOrderedVector.hh"

#include <set>

namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    template<typename T>
    using IntersectionPoints = std::set<Vector3<T>, WellOrderedVectors<T>>;

    template<typename Precision>
    class Box
    {
      public: Box() = default;

      public: Box(const Precision _length,
                  const Precision _width,
                  const Precision _height);

      public: Box(const Precision _length, const Precision _width,
                  const Precision _height,
                  const ignition::math::Material &_mat);

      public: explicit Box(const Vector3<Precision> &_size);

      public: Box(const Vector3<Precision> &_size,
                  const ignition::math::Material &_mat);

      public: virtual ~Box() = default;

      public: math::Vector3<Precision> Size() const;

      public: void SetSize(const math::Vector3<Precision> &_size);

      public: void SetSize(const Precision _length,
                           const Precision _width,
                           const Precision _height);

      public: bool operator==(const Box<Precision> &_b) const;

      public: bool operator!=(const Box<Precision> &_b) const;

      public: const ignition::math::Material &Material() const;

      public: void SetMaterial(const ignition::math::Material &_mat);

      public: Precision Volume() const;

      public: Precision VolumeBelow(const Plane<Precision> &_plane) const;

      public: std::optional<Vector3<Precision>>
        CenterOfVolumeBelow(const Plane<Precision> &_plane) const;

      public: IntersectionPoints<Precision>
        VerticesBelow(const Plane<Precision> &_plane) const;

      public: Precision DensityFromMass(const Precision _mass) const;

      public: bool SetDensityFromMass(const Precision _mass);

      public: bool MassMatrix(MassMatrix3<Precision> &_massMat) const;

      public: IntersectionPoints<Precision> Intersections(
        const Plane<Precision> &_plane) const;

      private: Vector3<Precision> size = Vector3<Precision>::Zero;

      private: ignition::math::Material material;
    };

    typedef Box<int> Boxi;

    typedef Box<double> Boxd;

    typedef Box<float> Boxf;
    }
  }
}
#include "ignition/math/detail/Box.hh"
#endif