AxisAlignedBox.hh

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/*
 * Copyright (C) 2012 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_AXISALIGNEDBOX_HH_
#define IGNITION_MATH_AXISALIGNEDBOX_HH_

#include <iostream>
#include <tuple>
#include <ignition/math/config.hh>
#include <ignition/math/Helpers.hh>
#include <ignition/math/Line3.hh>
#include <ignition/math/MassMatrix3.hh>
#include <ignition/math/Material.hh>
#include <ignition/math/Vector3.hh>

namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    // Forward declaration of private data
    class AxisAlignedBoxPrivate;

    class IGNITION_MATH_VISIBLE AxisAlignedBox
    {
      public: AxisAlignedBox();

      public: AxisAlignedBox(const Vector3d &_vec1, const Vector3d &_vec2);

      public: AxisAlignedBox(double _vec1X, double _vec1Y, double _vec1Z,
                  double _vec2X, double _vec2Y, double _vec2Z);

      public: AxisAlignedBox(const AxisAlignedBox &_b);

      public: virtual ~AxisAlignedBox();

      public: double XLength() const;

      public: double YLength() const;

      public: double ZLength() const;

      public: math::Vector3d Size() const;

      public: math::Vector3d Center() const;

      public: void Merge(const AxisAlignedBox &_box);

      public: AxisAlignedBox &operator=(const AxisAlignedBox &_b);

      public: AxisAlignedBox operator+(const AxisAlignedBox &_b) const;

      public: const AxisAlignedBox &operator+=(const AxisAlignedBox &_b);

      public: bool operator==(const AxisAlignedBox &_b) const;

      public: bool operator!=(const AxisAlignedBox &_b) const;

      public: AxisAlignedBox operator-(const Vector3d &_v);

      public: AxisAlignedBox operator+(const Vector3d &_v);

      public: friend std::ostream &operator<<(std::ostream &_out,
                  const ignition::math::AxisAlignedBox &_b)
      {
        _out << "Min[" << _b.Min() << "] Max[" << _b.Max() << "]";
        return _out;
      }

      public: const Vector3d &Min() const;

      public: const Vector3d &Max() const;

      public: Vector3d &Min();

      public: Vector3d &Max();

      public: bool Intersects(const AxisAlignedBox &_box) const;

      public: bool Contains(const Vector3d &_p) const;

      public: bool IntersectCheck(const Vector3d &_origin, const Vector3d &_dir,
                  const double _min, const double _max) const;

      public: std::tuple<bool, double> IntersectDist(
                  const Vector3d &_origin, const Vector3d &_dir,
                  const double _min, const double _max) const;

      public: std::tuple<bool, double, Vector3d> Intersect(
                  const Vector3d &_origin, const Vector3d &_dir,
                  const double _min, const double _max) const;

      public: std::tuple<bool, double, Vector3d> Intersect(
                  const Line3d &_line) const;

      public: double Volume() const;

      public: double DensityFromMass(const double _mass) const;

      public: bool SetDensityFromMass(const double _mass);

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

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

      public: bool MassMatrix(MassMatrix3d &_massMat) const;

      private: bool ClipLine(const int _d, const Line3d &_line,
                   double &_low, double &_high) const;

      private: AxisAlignedBoxPrivate *dataPtr;
    };
    }
  }
}
#endif