Region3.hh

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/*
 * Copyright (C) 2022 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.
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*/
#ifndef GZ_MATH_REGION3_HH_
#define GZ_MATH_REGION3_HH_
 
#include <cmath>
#include <limits>
#include <ostream>
#include <utility>
 
#include <gz/math/Interval.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/config.hh>
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  //
  template <typename T>
  class Region3
  {
    public: static const Region3<T> &Unbounded;
 
    public: Region3() = default;
 
    public: constexpr Region3(
        Interval<T> _ix, Interval<T> _iy, Interval<T> _iz)
    : ix(std::move(_ix)), iy(std::move(_iy)), iz(std::move(_iz))
    {
    }
 
    public: static constexpr Region3<T> Open(
        T _xLeft, T _yLeft, T _zLeft,
        T _xRight, T _yRight, T _zRight)
    {
      return Region3<T>(Interval<T>::Open(_xLeft, _xRight),
                        Interval<T>::Open(_yLeft, _yRight),
                        Interval<T>::Open(_zLeft, _zRight));
    }
 
    public: static constexpr Region3<T> Closed(
        T _xLeft, T _yLeft, T _zLeft,
        T _xRight, T _yRight, T _zRight)
    {
      return Region3<T>(Interval<T>::Closed(_xLeft, _xRight),
                        Interval<T>::Closed(_yLeft, _yRight),
                        Interval<T>::Closed(_zLeft, _zRight));
    }
 
    public: const Interval<T> &Ix() const { return this->ix; }
 
    public: const Interval<T> &Iy() const { return this->iy; }
 
    public: const Interval<T> &Iz() const { return this->iz; }
 
    public: bool Empty() const
    {
      return this->ix.Empty() || this->iy.Empty() || this->iz.Empty();
    }
 
    public: bool Contains(const Vector3<T> &_point) const
    {
      return (this->ix.Contains(_point.X()) &&
              this->iy.Contains(_point.Y()) &&
              this->iz.Contains(_point.Z()));
    }
 
    public: bool Contains(const Region3<T> &_other) const
    {
      return (this->ix.Contains(_other.ix) &&
              this->iy.Contains(_other.iy) &&
              this->iz.Contains(_other.iz));
    }
 
    public: bool Intersects(const Region3<T>& _other) const
    {
      return (this->ix.Intersects(_other.ix) &&
              this->iy.Intersects(_other.iy) &&
              this->iz.Intersects(_other.iz));
    }
 
    public: bool operator==(const Region3<T> &_other) const
    {
      return this->Contains(_other) && _other.Contains(*this);
    }
 
    public: bool operator!=(const Region3<T> &_other) const
    {
      return !this->Contains(_other) || !_other.Contains(*this);
    }
 
    public: friend std::ostream &operator<<(
      std::ostream &_out, const gz::math::Region3<T> &_r)
    {
      return _out <<_r.ix << " x " << _r.iy << " x " << _r.iz;
    }
 
    private: Interval<T> ix;
    private: Interval<T> iy;
    private: Interval<T> iz;
  };
 
  namespace detail {
     template<typename T>
     constexpr Region3<T> gUnboundedRegion3(
         Interval<T>::Open(-std::numeric_limits<T>::infinity(),
                           std::numeric_limits<T>::infinity()),
         Interval<T>::Open(-std::numeric_limits<T>::infinity(),
                           std::numeric_limits<T>::infinity()),
         Interval<T>::Open(-std::numeric_limits<T>::infinity(),
                           std::numeric_limits<T>::infinity()));
  }
  template<typename T>
  const Region3<T> &Region3<T>::Unbounded = detail::gUnboundedRegion3<T>;
 
  using Region3f = Region3<float>;
  using Region3d = Region3<double>;
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_REGION3_HH_