OpenSim: physics/BoundingBox.cpp Source File

00001 /****************************************************************************
00002   Copyright (C)2003 David Jung <opensim@pobox.com>
00003 
00004   This program/file is free software; you can redistribute it and/or modify
00005   it under the terms of the GNU General Public License as published by
00006   the Free Software Foundation; either version 2 of the License, or
00007   (at your option) any later version.
00008   
00009   This program is distributed in the hope that it will be useful,
00010   but WITHOUT ANY WARRANTY; without even the implied warranty of
00011   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012   GNU General Public License for more details. (http://www.gnu.org)
00013   
00014   You should have received a copy of the GNU General Public License
00015   along with this program; if not, write to the Free Software
00016   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00017   
00018   $Id: BoundingBox.cpp 1031 2004-02-11 20:46:36Z jungd $
00019   $Revision: 1.1 $
00020   $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
00021   $Author: jungd $
00022  
00023 ****************************************************************************/
00024 
00025 #include <physics/BoundingBox>
00026 
00027 using physics::BoundingBox;
00028 
00029 using base::Point3;
00030 using base::Transform;
00031 
00032 
00033 void BoundingBox::enclose(const BoundingBox& a, const BoundingBox& b) 
00034 {
00035     Point3 alower(a.lower());
00036     Point3 blower(b.lower());
00037     Point3 aupper(a.upper());
00038     Point3 bupper(b.upper());
00039     
00040     Point3 _lower(Math::minimum(alower.x, blower.x),
00041                   Math::minimum(alower.y, blower.y),
00042                   Math::minimum(alower.z, blower.z) );
00043     Point3 _upper(Math::maximum(aupper.x, bupper.x),
00044                   Math::maximum(aupper.y, bupper.y),
00045                   Math::maximum(aupper.z, bupper.z) );
00046     setExtents(_lower, _upper);
00047 }
00048 
00049 
00050 void BoundingBox::include(const base::Point3& p) 
00051 {
00052   Point3 _lower(Math::minimum(lower().x, p.x),
00053                 Math::minimum(lower().y, p.y),
00054                 Math::minimum(lower().z, p.z) );
00055   Point3 _upper(Math::maximum(upper().x, p.x),
00056                 Math::maximum(upper().y, p.y),
00057                 Math::maximum(upper().z, p.z) );
00058   setExtents(_lower, _upper);
00059 }
00060 
00061 
00062 void BoundingBox::transform(const Transform& t)
00063 {
00064   // construct 8 vectices
00065   Point3 l(lower());
00066   Point3 u(upper());
00067   
00068   array<Point3> v(8);
00069   v[0]=l;
00070   v[1]=Point3(l.x,u.y,l.z);
00071   v[2]=Point3(u.x,u.y,l.z);
00072   v[3]=Point3(u.x,l.y,l.z);
00073   
00074   v[4]=Point3(l.x,l.y,u.z);
00075   v[5]=Point3(l.x,u.y,u.z);
00076   v[6]=u;
00077   v[7]=Point3(u.x,l.y,u.z);
00078   
00079   // transform them
00080   for(Int vi=0; vi<8; vi++)
00081     t.transformPoint(v[vi]);
00082   
00083   // find new bounding box
00084   setEmpty();
00085   for(Int vi=0; vi<8; vi++)
00086     include(v[vi]);
00087 }