torcs - 1.2.2

src/modules/simu/simuv2.sav/SOLID-2.0/src/BBox.h

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00001 /*
00002   SOLID - Software Library for Interference Detection
00003   Copyright (C) 1997-1998  Gino van den Bergen
00004 
00005   This library is free software; you can redistribute it and/or
00006   modify it under the terms of the GNU Library General Public
00007   License as published by the Free Software Foundation; either
00008   version 2 of the License, or (at your option) any later version.
00009 
00010   This library is distributed in the hope that it will be useful,
00011   but WITHOUT ANY WARRANTY; without even the implied warranty of
00012   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00013   Library General Public License for more details.
00014 
00015   You should have received a copy of the GNU Library General Public
00016   License along with this library; if not, write to the Free
00017   Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00018 
00019   Please send remarks, questions and bug reports to gino@win.tue.nl,
00020   or write to:
00021                   Gino van den Bergen
00022                   Department of Mathematics and Computing Science
00023                   Eindhoven University of Technology
00024                   P.O. Box 513, 5600 MB Eindhoven, The Netherlands
00025 */
00026 
00027 #ifndef _BBOX_H_
00028 #define _BBOX_H_
00029 
00030 #include <3D/Point.h>
00031 
00032 class BBox {
00033 public:
00034   BBox() {} 
00035   BBox(const Point& min, const Point& max) { setValue(min, max); }
00036 
00037   const Point& getCenter() const { return center; }
00038   const Vector& getExtent() const { return extent; }
00039   
00040   void setCenter(const Point& p)  { center = p; }
00041   void setExtent(const Vector& v) { extent = v; }
00042 
00043   void setValue(const Point& min, const Point& max) { 
00044     extent = (max - min) / 2;
00045     center = min + extent;
00046   }
00047 
00048   void enclose(const BBox& a, const BBox& b) {
00049     Point lower(min(a.getLower(X), b.getLower(X)),
00050                 min(a.getLower(Y), b.getLower(Y)),
00051                 min(a.getLower(Z), b.getLower(Z)));
00052     Point upper(max(a.getUpper(X), b.getUpper(X)),
00053                 max(a.getUpper(Y), b.getUpper(Y)),
00054                 max(a.getUpper(Z), b.getUpper(Z)));
00055     setValue(lower, upper);
00056   }
00057 
00058   void setEmpty() { 
00059     center.setValue(0, 0, 0); 
00060     extent.setValue(-INFINITY_, -INFINITY_, -INFINITY_);
00061   }
00062 
00063   void include (const Point& p) {
00064     Point lower(min(getLower(X), p[X]),
00065                 min(getLower(Y), p[Y]),
00066                 min(getLower(Z), p[Z]));
00067     Point upper(max(getUpper(X), p[X]),
00068                 max(getUpper(Y), p[Y]),
00069                 max(getUpper(Z), p[Z]));
00070     setValue(lower, upper);
00071   }
00072 
00073   void include (const BBox& b) { enclose(*this, b); }
00074 
00075   Scalar getLower(int i) const { return center[i] - extent[i]; }
00076   Scalar getUpper(int i) const { return center[i] + extent[i]; }
00077 
00078   Scalar size() const { return max(max(extent[X], extent[Y]), extent[Z]); }
00079   int longestAxis() const { return extent.closestAxis(); }
00080 
00081   friend bool intersect(const BBox& a, const BBox& b);
00082 
00083 private:
00084   Point center;
00085   Vector extent;
00086 };
00087 
00088 inline bool intersect(const BBox& a, const BBox& b) {
00089   return fabs(a.center[X] - b.center[X]) <= a.extent[X] + b.extent[X] &&
00090          fabs(a.center[Y] - b.center[Y]) <= a.extent[Y] + b.extent[Y] &&
00091          fabs(a.center[Z] - b.center[Z]) <= a.extent[Z] + b.extent[Z];
00092 }
00093 
00094 #endif
00095 
00096 

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