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00026 #ifndef WFMATH_ROT_BOX_H
00027 #define WFMATH_ROT_BOX_H
00028
00029 #include <wfmath/const.h>
00030 #include <wfmath/vector.h>
00031 #include <wfmath/point.h>
00032 #include <wfmath/rotmatrix.h>
00033 #include <wfmath/axisbox.h>
00034 #include <wfmath/ball.h>
00035 #include <wfmath/intersect_decls.h>
00036
00037 namespace WFMath {
00038
00039 template<const int dim> class RotBox;
00040
00041 template<const int dim>
00042 std::ostream& operator<<(std::ostream& os, const RotBox<dim>& r);
00043 template<const int dim>
00044 std::istream& operator>>(std::istream& is, RotBox<dim>& r);
00045
00047
00051 template<const int dim>
00052 class RotBox
00053 {
00054 public:
00056 RotBox() {}
00058
00063 RotBox(const Point<dim>& p, const Vector<dim>& size,
00064 const RotMatrix<dim>& orientation) : m_corner0(p), m_size(size),
00065 m_orient(orientation) {}
00067 RotBox(const RotBox& b) : m_corner0(b.m_corner0), m_size(b.m_size),
00068 m_orient(b.m_orient) {}
00069
00070 ~RotBox() {}
00071
00072 friend std::ostream& operator<< <dim>(std::ostream& os, const RotBox& r);
00073 friend std::istream& operator>> <dim>(std::istream& is, RotBox& r);
00074
00075 RotBox& operator=(const RotBox& s);
00076
00077 bool isEqualTo(const RotBox& b, double epsilon = WFMATH_EPSILON) const;
00078
00079 bool operator==(const RotBox& b) const {return isEqualTo(b);}
00080 bool operator!=(const RotBox& b) const {return !isEqualTo(b);}
00081
00082 bool isValid() const {return m_corner0.isValid() && m_size.isValid()
00083 && m_orient.isValid();}
00084
00085
00086
00087 int numCorners() const {return 1 << dim;}
00088 Point<dim> getCorner(int i) const;
00089 Point<dim> getCenter() const {return m_corner0 + Prod(m_size / 2, m_orient);}
00090
00092 const Point<dim>& corner0() const {return m_corner0;}
00094 Point<dim>& corner0() {return m_corner0;}
00096 const Vector<dim>& size() const {return m_size;}
00098 Vector<dim>& size() {return m_size;}
00100 const RotMatrix<dim>& orientation() const {return m_orient;}
00102 RotMatrix<dim>& orientation() {return m_orient;}
00103
00104
00105
00106 RotBox& shift(const Vector<dim>& v)
00107 {m_corner0 += v; return *this;}
00108 RotBox& moveCornerTo(const Point<dim>& p, int corner)
00109 {return shift(p - getCorner(corner));}
00110 RotBox& moveCenterTo(const Point<dim>& p)
00111 {return shift(p - getCenter());}
00112
00113 RotBox& rotateCorner(const RotMatrix<dim>& m, int corner)
00114 {rotatePoint(m, getCorner(corner)); return *this;}
00115 RotBox& rotateCenter(const RotMatrix<dim>& m)
00116 {rotatePoint(m, getCenter()); return *this;}
00117 RotBox& rotatePoint(const RotMatrix<dim>& m, const Point<dim>& p)
00118 {m_orient = Prod(m_orient, m); m_corner0.rotate(m, p); return *this;}
00119
00120
00121 RotBox<3>& rotateCorner(const Quaternion& q, int corner)
00122 {rotatePoint(q, getCorner(corner)); return *this;}
00123 RotBox<3>& rotateCenter(const Quaternion& q)
00124 {rotatePoint(q, getCenter()); return *this;}
00125 RotBox<3>& rotatePoint(const Quaternion& q, const Point<3>& p)
00126 {m_orient = m_orient.rotate(q); m_corner0.rotate(q, p); return *this;}
00127
00128
00129
00130 AxisBox<dim> boundingBox() const;
00131 Ball<dim> boundingSphere() const
00132 {return Ball<dim>(getCenter(), m_size.mag() / 2);}
00133 Ball<dim> boundingSphereSloppy() const
00134 {return Ball<dim>(getCenter(), m_size.sqrMag() / 2);}
00135
00136 RotBox toParentCoords(const Point<dim>& origin,
00137 const RotMatrix<dim>& rotation = RotMatrix<dim>().identity()) const
00138 {return RotBox(m_corner0.toParentCoords(origin, rotation), m_size,
00139 m_orient * rotation);}
00140 RotBox toParentCoords(const AxisBox<dim>& coords) const
00141 {return RotBox(m_corner0.toParentCoords(coords), m_size, m_orient);}
00142 RotBox toParentCoords(const RotBox<dim>& coords) const
00143 {return RotBox(m_corner0.toParentCoords(coords), m_size,
00144 m_orient * coords.m_orient);}
00145
00146
00147
00148
00149
00150 RotBox toLocalCoords(const Point<dim>& origin,
00151 const RotMatrix<dim>& rotation = RotMatrix<dim>().identity()) const
00152 {return RotBox(m_corner0.toLocalCoords(origin, rotation), m_size,
00153 rotation * m_orient);}
00154 RotBox toLocalCoords(const AxisBox<dim>& coords) const
00155 {return RotBox(m_corner0.toLocalCoords(coords), m_size, m_orient);}
00156 RotBox toLocalCoords(const RotBox<dim>& coords) const
00157 {return RotBox(m_corner0.toLocalCoords(coords), m_size,
00158 coords.m_orient * m_orient);}
00159
00160
00161 RotBox<3> toParentCoords(const Point<3>& origin, const Quaternion& rotation) const
00162 {return RotBox<3>(m_corner0.toParentCoords(origin, rotation), m_size,
00163 m_orient.rotate(rotation));}
00164 RotBox<3> toLocalCoords(const Point<3>& origin, const Quaternion& rotation) const
00165 {return RotBox<3>(m_corner0.toLocalCoords(origin, rotation), m_size,
00166 m_orient.rotate(rotation.inverse()));}
00167
00168 friend bool Intersect<dim>(const RotBox& r, const Point<dim>& p, bool proper);
00169 friend bool Contains<dim>(const Point<dim>& p, const RotBox& r, bool proper);
00170
00171 friend bool Intersect<dim>(const RotBox& r, const AxisBox<dim>& b, bool proper);
00172 friend bool Contains<dim>(const RotBox& r, const AxisBox<dim>& b, bool proper);
00173 friend bool Contains<dim>(const AxisBox<dim>& b, const RotBox& r, bool proper);
00174
00175 friend bool Intersect<dim>(const RotBox& r, const Ball<dim>& b, bool proper);
00176 friend bool Contains<dim>(const RotBox& r, const Ball<dim>& b, bool proper);
00177 friend bool Contains<dim>(const Ball<dim>& b, const RotBox& r, bool proper);
00178
00179 friend bool Intersect<dim>(const RotBox& r, const Segment<dim>& s, bool proper);
00180 friend bool Contains<dim>(const RotBox& r, const Segment<dim>& s, bool proper);
00181 friend bool Contains<dim>(const Segment<dim>& s, const RotBox& r, bool proper);
00182
00183 friend bool Intersect<dim>(const RotBox& r1, const RotBox& r2, bool proper);
00184 friend bool Contains<dim>(const RotBox& outer, const RotBox& inner, bool proper);
00185
00186 friend bool Intersect<dim>(const Polygon<dim>& p, const RotBox& r, bool proper);
00187 friend bool Contains<dim>(const Polygon<dim>& p, const RotBox& r, bool proper);
00188 friend bool Contains<dim>(const RotBox& r, const Polygon<dim>& p, bool proper);
00189
00190 private:
00191
00192 Point<dim> m_corner0;
00193 Vector<dim> m_size;
00194 RotMatrix<dim> m_orient;
00195 };
00196
00197 }
00198
00199 #include <wfmath/rotbox_funcs.h>
00200
00201 #endif // WFMATH_ROT_BOX_H