WFMath 0.3.11
axisbox.h
00001 // axisbox.h (An axis-aligned box)
00002 //
00003 //  The WorldForge Project
00004 //  Copyright (C) 2000, 2001  The WorldForge Project
00005 //
00006 //  This program is free software; you can redistribute it and/or modify
00007 //  it under the terms of the GNU General Public License as published by
00008 //  the Free Software Foundation; either version 2 of the License, or
00009 //  (at your option) any later version.
00010 //
00011 //  This program is distributed in the hope that it will be useful,
00012 //  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 //  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 //  GNU General Public License for more details.
00015 //
00016 //  You should have received a copy of the GNU General Public License
00017 //  along with this program; if not, write to the Free Software
00018 //  Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00019 //
00020 //  For information about WorldForge and its authors, please contact
00021 //  the Worldforge Web Site at http://www.worldforge.org.
00022 //
00023 
00024 // Author: Ron Steinke
00025 
00026 // The implementation of this class is based on the geometric
00027 // parts of the Tree and Placement classes from stage/shepherd/sylvanus
00028 
00029 #ifndef WFMATH_AXIS_BOX_H
00030 #define WFMATH_AXIS_BOX_H
00031 
00032 #include <wfmath/intersect_decls.h>
00033 
00034 #include <iosfwd>
00035 
00036 namespace WFMath {
00037 
00038 template<const int dim>
00039 bool Intersection(const AxisBox<dim>& a1, const AxisBox<dim>& a2, AxisBox<dim>& out);
00040 template<const int dim>
00041 AxisBox<dim> Union(const AxisBox<dim>& a1, const AxisBox<dim>& a2);
00042 
00043 template<const int dim>
00044 std::ostream& operator<<(std::ostream& os, const AxisBox<dim>& m);
00045 template<const int dim>
00046 std::istream& operator>>(std::istream& is, AxisBox<dim>& m);
00047 
00048 #ifndef WFMATH_NO_TEMPLATES_AS_TEMPLATE_PARAMETERS
00049 
00050 template<const int dim, template<class, class> class container>
00051 AxisBox<dim> BoundingBox(const container<AxisBox<dim>, std::allocator<AxisBox<dim> > >& c);
00052 
00054 template<const int dim, template<class, class> class container>
00055 AxisBox<dim> BoundingBox(const container<Point<dim>, std::allocator<Point<dim> > >& c);
00056 #endif
00057 
00059 
00063 template<const int dim = 3>
00064 class AxisBox
00065 {
00066  public:
00068   AxisBox() {}
00070   AxisBox(const Point<dim>& p1, const Point<dim>& p2, bool ordered = false)
00071     {setCorners(p1, p2, ordered);}
00073   AxisBox(const AxisBox& a) : m_low(a.m_low), m_high(a.m_high) {}
00075   explicit AxisBox(const AtlasInType& a);
00076 
00077   friend std::ostream& operator<< <dim>(std::ostream& os, const AxisBox& a);
00078   friend std::istream& operator>> <dim>(std::istream& is, AxisBox& a);
00079 
00081   AtlasOutType toAtlas() const;
00083   void fromAtlas(const AtlasInType& a);
00084 
00085   AxisBox& operator=(const AxisBox& a)
00086   {m_low = a.m_low; m_high = a.m_high; return *this;}
00087 
00088   bool isEqualTo(const AxisBox& b, double epsilon = WFMATH_EPSILON) const;
00089   bool operator==(const AxisBox& a) const       {return isEqualTo(a);}
00090   bool operator!=(const AxisBox& a) const       {return !isEqualTo(a);}
00091 
00092   bool isValid() const {return m_low.isValid() && m_high.isValid();}
00093 
00094   // Descriptive characteristics
00095 
00096   int numCorners() const {return 1 << dim;}
00097   Point<dim> getCorner(int i) const;
00098   Point<dim> getCenter() const {return Midpoint(m_low, m_high);}
00099 
00101   const Point<dim>& lowCorner() const {return m_low;}
00102   Point<dim>& lowCorner() {return m_low;}
00104   const Point<dim>& highCorner() const {return m_high;}
00105   Point<dim>& highCorner() {return m_high;}
00106 
00108   CoordType lowerBound(const int axis) const    {return m_low[axis];}
00110   CoordType upperBound(const int axis) const    {return m_high[axis];}
00111 
00113 
00118   AxisBox& setCorners(const Point<dim>& p1, const Point<dim>& p2,
00119   bool ordered = false);
00120 
00121   // Movement functions
00122 
00123   AxisBox& shift(const Vector<dim>& v)
00124   {m_low += v; m_high += v; return *this;}
00125   AxisBox& moveCornerTo(const Point<dim>& p, int corner)
00126   {return shift(p - getCorner(corner));}
00127   AxisBox& moveCenterTo(const Point<dim>& p)
00128   {return shift(p - getCenter());}
00129 
00130   // No rotation functions, this shape can't rotate
00131 
00132   // Intersection functions
00133 
00134   AxisBox boundingBox() const {return *this;}
00135   Ball<dim> boundingSphere() const;
00136   Ball<dim> boundingSphereSloppy() const;
00137 
00138   AxisBox toParentCoords(const Point<dim>& origin) const
00139         {return AxisBox(m_low.toParentCoords(origin), m_high.toParentCoords(origin), true);}
00140   AxisBox toParentCoords(const AxisBox<dim>& coords) const
00141         {return AxisBox(m_low.toParentCoords(coords), m_high.toParentCoords(coords), true);}
00142 
00143   // toLocal is just like toParent, expect we reverse the order of
00144   // translation and rotation and use the opposite sense of the rotation
00145   // matrix
00146 
00147   AxisBox toLocalCoords(const Point<dim>& origin) const
00148         {return AxisBox(m_low.toLocalCoords(origin), m_high.toLocalCoords(origin), true);}
00149   AxisBox toLocalCoords(const AxisBox<dim>& coords) const
00150         {return AxisBox(m_low.toLocalCoords(coords), m_high.toLocalCoords(coords), true);}
00151 
00153   friend bool Intersection<dim>(const AxisBox& a1, const AxisBox& a2, AxisBox& out);
00155   friend AxisBox Union<dim>(const AxisBox& a1, const AxisBox& a2);
00156 
00157   friend bool Intersect<dim>(const AxisBox& b, const Point<dim>& p, bool proper);
00158   friend bool Contains<dim>(const Point<dim>& p, const AxisBox& b, bool proper);
00159 
00160   friend bool Intersect<dim>(const AxisBox& b1, const AxisBox& b2, bool proper);
00161   friend bool Contains<dim>(const AxisBox& outer, const AxisBox& inner, bool proper);
00162 
00163   friend bool Intersect<dim>(const Ball<dim>& b, const AxisBox& a, bool proper);
00164   friend bool Contains<dim>(const Ball<dim>& b, const AxisBox& a, bool proper);
00165   friend bool Contains<dim>(const AxisBox& a, const Ball<dim>& b, bool proper);
00166 
00167   friend bool Intersect<dim>(const Segment<dim>& s, const AxisBox& b, bool proper);
00168   friend bool Contains<dim>(const Segment<dim>& s, const AxisBox& b, bool proper);
00169 
00170   friend bool Intersect<dim>(const RotBox<dim>& r, const AxisBox& b, bool proper);
00171   friend bool Contains<dim>(const RotBox<dim>& r, const AxisBox& b, bool proper);
00172   friend bool Contains<dim>(const AxisBox& b, const RotBox<dim>& r, bool proper);
00173 
00174   friend bool Intersect<dim>(const Polygon<dim>& p, const AxisBox& b, bool proper);
00175   friend bool Contains<dim>(const Polygon<dim>& p, const AxisBox& b, bool proper);
00176   friend bool Contains<dim>(const AxisBox& b, const Polygon<dim>& p, bool proper);
00177 
00178  private:
00179 
00180   Point<dim> m_low, m_high;
00181 };
00182 
00183 } // namespace WFMath
00184 
00185 #endif  // WFMATH_AXIS_BOX_H