Simbody 3.7
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 *
18 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19 * *
20 * Unless required by applicable law or agreed to in writing, software *
21 * distributed under the License is distributed on an "AS IS" BASIS, *
22 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23 * See the License for the specific language governing permissions and *
24 * limitations under the License. *
25 * -------------------------------------------------------------------------- */
26
27#include "SimTKcommon.h"
29
30namespace SimTK {
31
43public:
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;
95private:
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.
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.
const Vec3 & getSize() const
Get the dimensions of the box.
Vec3 findNearestPoint(const Vec3 &position) const
Given a point in space, find the point inside the bounding box which is nearest to it.
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.
const Transform & getTransform() const
Get the position and orientation 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:606