BoundingAABB.h

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from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#ifndef AGXCOLLIDE_BOUNDINGAABB_H
#define AGXCOLLIDE_BOUNDINGAABB_H
 
#include <agx/agxPhysics_export.h>
 
#include <agx/agx.h>
#include <agx/Vec3.h>
#include <agx/AffineMatrix4x4.h>
#include <agx/Bound.h>
#include <agxData/Type.h>
 
#include <iosfwd>
 
 
namespace agxCollide
{
 
  class AGXPHYSICS_EXPORT BoundingAABB : public agx::Bound3
  {
    public:
      BoundingAABB();
 
      BoundingAABB(const agx::Vec3& min, const agx::Vec3& max);
 
      BoundingAABB(const agx::Bound3& other, const agx::AffineMatrix4x4& transform);
 
      void reset();
 
      void set(const agx::Bound3& other, const agx::AffineMatrix4x4& transform);
 
      void expand(const agx::Bound3& other);
 
      void expand(const agx::Vec3& point);
 
      void expand(const agx::Vec3& otherMin, const agx::Vec3& otherMax);
 
      void expand(const agx::Bound3& other, const agx::AffineMatrix4x4& transform);
 
      void expand(const agx::Vec3& otherMin, const agx::Vec3& otherMax, const agx::AffineMatrix4x4& transform);
 
      bool hasOverlap(const BoundingAABB* other) const;
 
      bool testSphereOverlap(const agx::Vec3& pos, agx::Real radius) const;
 
      bool isCleared() const;
 
      using agx::Bound3::set;
      using agx::Bound3::hasOverlap;
  };
 
#ifndef SWIG
  static_assert(sizeof(agx::Bound3) == sizeof(BoundingAABB), "Size mismatch");
#endif
 
 
 
  /* Implementation */
  AGX_FORCE_INLINE BoundingAABB::BoundingAABB()
  {
    reset();
  }
 
 
  AGX_FORCE_INLINE BoundingAABB::BoundingAABB(const agx::Vec3& min, const agx::Vec3& max) : agx::Bound3(min, max)
  {
  }
 
 
  AGX_FORCE_INLINE BoundingAABB::BoundingAABB(const agx::Bound3& other, const agx::AffineMatrix4x4& transform)
  {
    this->reset();
    this->expand(other, transform);
  }
 
 
  AGX_FORCE_INLINE void BoundingAABB::set(const agx::Bound3& other, const agx::AffineMatrix4x4& transform)
  {
    this->reset();
    this->expand(other, transform);
  }
 
 
  AGX_FORCE_INLINE void BoundingAABB::reset()
  {
    min().set(agx::RealMax);
    max().set(-agx::RealMax);
  }
 
 
  AGX_FORCE_INLINE bool BoundingAABB::isCleared() const
  {
    return min()[0] > max()[0];
  }
 
 
  AGX_FORCE_INLINE void BoundingAABB::expand(const agx::Bound3& other)
  {
    expand(other.min(), other.max());
  }
 
 
  AGX_FORCE_INLINE void BoundingAABB::expand(const agx::Vec3& point)
  {
    expand(point, point);
  }
 
 
  AGX_FORCE_INLINE void BoundingAABB::expand(const agx::Vec3& otherMin, const agx::Vec3& otherMax)
  {
    min() = agx::Vec3::componentMin(min(), otherMin);
    max() = agx::Vec3::componentMax(max(), otherMax);
  }
 
 
  AGX_FORCE_INLINE void BoundingAABB::expand(const agx::Bound3& other, const agx::AffineMatrix4x4& transform)
  {
    expand( other.min(), other.max(), transform );
  }
 
 
  AGX_FORCE_INLINE bool BoundingAABB::hasOverlap(const BoundingAABB* other) const
  {
    return agx::Bound3::hasOverlap(*other);
  }
 
 
  AGX_FORCE_INLINE bool BoundingAABB::testSphereOverlap(const agx::Vec3& pos, agx::Real radius) const
  {
    const bool retval =
      pos[0] > (min()[0] - radius) && pos[1] > (min()[1] - radius) && pos[2] > (min()[2] - radius) &&
      pos[0] < (max()[0] + radius) && pos[1] < (max()[1] + radius) && pos[2] < (max()[2] + radius);
    return retval;
  }
 
 
  inline std::ostream& operator << ( std::ostream& output, const BoundingAABB& bound )
  {
    output << "min(): " << bound.min() << ", max(): " << bound.max();
    return output;
  }
 
}
 
AGX_TYPE_BINDING(agxCollide::BoundingAABB, "BoundingAABB")
 
#endif