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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 #include <wfmath/quaternion.h>
00037
00038 namespace WFMath {
00039
00040 template<const int dim> class RotBox;
00041
00042 template<const int dim>
00043 std::ostream& operator<<(std::ostream& os, const RotBox<dim>& r);
00044 template<const int dim>
00045 std::istream& operator>>(std::istream& is, RotBox<dim>& r);
00046
00048
00052 template<const int dim>
00053 class RotBox
00054 {
00055 public:
00057 RotBox() {}
00059
00064 RotBox(const Point<dim>& p, const Vector<dim>& size,
00065 const RotMatrix<dim>& orientation) : m_corner0(p), m_size(size),
00066 m_orient(orientation) {}
00068 RotBox(const RotBox& b) : m_corner0(b.m_corner0), m_size(b.m_size),
00069 m_orient(b.m_orient) {}
00071 explicit RotBox(const AtlasInType& a) {fromAtlas(a);}
00072
00073 ~RotBox() {}
00074
00076 AtlasOutType toAtlas() const;
00078 void fromAtlas(const AtlasInType& a);
00079
00080 friend std::ostream& operator<< <dim>(std::ostream& os, const RotBox& r);
00081 friend std::istream& operator>> <dim>(std::istream& is, RotBox& r);
00082
00083 RotBox& operator=(const RotBox& s);
00084
00085 bool isEqualTo(const RotBox& b, double epsilon = WFMATH_EPSILON) const;
00086
00087 bool operator==(const RotBox& b) const {return isEqualTo(b);}
00088 bool operator!=(const RotBox& b) const {return !isEqualTo(b);}
00089
00090 bool isValid() const {return m_corner0.isValid() && m_size.isValid()
00091 && m_orient.isValid();}
00092
00093
00094
00095 int numCorners() const {return 1 << dim;}
00096 Point<dim> getCorner(int i) const;
00097 Point<dim> getCenter() const {return m_corner0 + Prod(m_size / 2, m_orient);}
00098
00100 const Point<dim>& corner0() const {return m_corner0;}
00102 Point<dim>& corner0() {return m_corner0;}
00104 const Vector<dim>& size() const {return m_size;}
00106 Vector<dim>& size() {return m_size;}
00108 const RotMatrix<dim>& orientation() const {return m_orient;}
00110 RotMatrix<dim>& orientation() {return m_orient;}
00111
00112
00113
00114 RotBox& shift(const Vector<dim>& v)
00115 {m_corner0 += v; return *this;}
00116 RotBox& moveCornerTo(const Point<dim>& p, int corner)
00117 {return shift(p - getCorner(corner));}
00118 RotBox& moveCenterTo(const Point<dim>& p)
00119 {return shift(p - getCenter());}
00120
00121 RotBox& rotateCorner(const RotMatrix<dim>& m, int corner)
00122 {rotatePoint(m, getCorner(corner)); return *this;}
00123 RotBox& rotateCenter(const RotMatrix<dim>& m)
00124 {rotatePoint(m, getCenter()); return *this;}
00125 RotBox& rotatePoint(const RotMatrix<dim>& m, const Point<dim>& p)
00126 {m_orient = Prod(m_orient, m); m_corner0.rotate(m, p); return *this;}
00127
00128
00129 RotBox<3>& rotateCorner(const Quaternion& q, int corner)
00130 {rotatePoint(q, getCorner(corner)); return *this;}
00131 RotBox<3>& rotateCenter(const Quaternion& q)
00132 {rotatePoint(q, getCenter()); return *this;}
00133 RotBox<3>& rotatePoint(const Quaternion& q, const Point<3>& p)
00134 {m_orient = m_orient.rotate(q); m_corner0.rotate(q, p); return *this;}
00135
00136
00137
00138 AxisBox<dim> boundingBox() const;
00139 Ball<dim> boundingSphere() const
00140 {return Ball<dim>(getCenter(), m_size.mag() / 2);}
00141 Ball<dim> boundingSphereSloppy() const
00142 {return Ball<dim>(getCenter(), m_size.sqrMag() / 2);}
00143
00144 RotBox toParentCoords(const Point<dim>& origin,
00145 const RotMatrix<dim>& rotation = RotMatrix<dim>().identity()) const
00146 {return RotBox(m_corner0.toParentCoords(origin, rotation), m_size,
00147 m_orient * rotation);}
00148 RotBox toParentCoords(const AxisBox<dim>& coords) const
00149 {return RotBox(m_corner0.toParentCoords(coords), m_size, m_orient);}
00150 RotBox toParentCoords(const RotBox<dim>& coords) const
00151 {return RotBox(m_corner0.toParentCoords(coords), m_size,
00152 m_orient * coords.m_orient);}
00153
00154
00155
00156
00157
00158 RotBox toLocalCoords(const Point<dim>& origin,
00159 const RotMatrix<dim>& rotation = RotMatrix<dim>().identity()) const
00160 {return RotBox(m_corner0.toLocalCoords(origin, rotation), m_size,
00161 rotation * m_orient);}
00162 RotBox toLocalCoords(const AxisBox<dim>& coords) const
00163 {return RotBox(m_corner0.toLocalCoords(coords), m_size, m_orient);}
00164 RotBox toLocalCoords(const RotBox<dim>& coords) const
00165 {return RotBox(m_corner0.toLocalCoords(coords), m_size,
00166 coords.m_orient * m_orient);}
00167
00168
00169 RotBox<3> toParentCoords(const Point<3>& origin, const Quaternion& rotation) const
00170 {return RotBox<3>(m_corner0.toParentCoords(origin, rotation), m_size,
00171 m_orient.rotate(rotation));}
00172 RotBox<3> toLocalCoords(const Point<3>& origin, const Quaternion& rotation) const
00173 {return RotBox<3>(m_corner0.toLocalCoords(origin, rotation), m_size,
00174 m_orient.rotate(rotation.inverse()));}
00175
00176 friend bool Intersect<dim>(const RotBox& r, const Point<dim>& p, bool proper);
00177 friend bool Contains<dim>(const Point<dim>& p, const RotBox& r, bool proper);
00178
00179 friend bool Intersect<dim>(const RotBox& r, const AxisBox<dim>& b, bool proper);
00180 friend bool Contains<dim>(const RotBox& r, const AxisBox<dim>& b, bool proper);
00181 friend bool Contains<dim>(const AxisBox<dim>& b, const RotBox& r, bool proper);
00182
00183 friend bool Intersect<dim>(const RotBox& r, const Ball<dim>& b, bool proper);
00184 friend bool Contains<dim>(const RotBox& r, const Ball<dim>& b, bool proper);
00185 friend bool Contains<dim>(const Ball<dim>& b, const RotBox& r, bool proper);
00186
00187 friend bool Intersect<dim>(const RotBox& r, const Segment<dim>& s, bool proper);
00188 friend bool Contains<dim>(const RotBox& r, const Segment<dim>& s, bool proper);
00189 friend bool Contains<dim>(const Segment<dim>& s, const RotBox& r, bool proper);
00190
00191 friend bool Intersect<dim>(const RotBox& r1, const RotBox& r2, bool proper);
00192 friend bool Contains<dim>(const RotBox& outer, const RotBox& inner, bool proper);
00193
00194 friend bool Intersect<dim>(const Polygon<dim>& p, const RotBox& r, bool proper);
00195 friend bool Contains<dim>(const Polygon<dim>& p, const RotBox& r, bool proper);
00196 friend bool Contains<dim>(const RotBox& r, const Polygon<dim>& p, bool proper);
00197
00198 private:
00199
00200 Point<dim> m_corner0;
00201 Vector<dim> m_size;
00202 RotMatrix<dim> m_orient;
00203 };
00204
00205 }
00206
00207 #include <wfmath/rotbox_funcs.h>
00208
00209 #endif // WFMATH_ROT_BOX_H