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 GZ_MATH_AXISALIGNEDBOX_HH_
#define GZ_MATH_AXISALIGNEDBOX_HH_
 
#include <ostream>
#include <tuple>
#include <gz/math/config.hh>
#include <gz/math/Helpers.hh>
#include <gz/math/Line3.hh>
#include <gz/math/MassMatrix3.hh>
#include <gz/math/Material.hh>
#include <gz/math/Vector3.hh>
#include <gz/utils/ImplPtr.hh>
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  class GZ_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: 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) 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: AxisAlignedBox operator-(const Vector3d &_v) const;
 
    public: AxisAlignedBox operator+(const Vector3d &_v) const;
 
    public: friend std::ostream &operator<<(std::ostream &_out,
                const gz::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;
 
    private: bool ClipLine(const int _d, const Line3d &_line,
                 double &_low, double &_high) const;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_AXISALIGNEDBOX_HH_