AABB.h

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#ifndef COAL_AABB_H
#define COAL_AABB_H

#include "coal/data_types.h"

namespace coal {

struct CollisionRequest;
class Plane;
class Halfspace;


class COAL_DLLAPI AABB {
 public:
 Vec3s min_;
 Vec3s max_;

 AABB();

 AABB(const Vec3s& v) : min_(v), max_(v) {}

 AABB(const Vec3s& a, const Vec3s& b)
 : min_(a.cwiseMin(b)), max_(a.cwiseMax(b)) {}

 AABB(const AABB& core, const Vec3s& delta)
 : min_(core.min_ - delta), max_(core.max_ + delta) {}

 AABB(const Vec3s& a, const Vec3s& b, const Vec3s& c)
 : min_(a.cwiseMin(b).cwiseMin(c)), max_(a.cwiseMax(b).cwiseMax(c)) {}

 AABB(const AABB& other) = default;

 AABB& operator=(const AABB& other) = default;

 AABB& update(const Vec3s& a, const Vec3s& b) {
 min_ = a.cwiseMin(b);
 max_ = a.cwiseMax(b);
 return *this;
 }

 bool operator==(const AABB& other) const {
 return min_ == other.min_ && max_ == other.max_;
 }

 bool operator!=(const AABB& other) const { return !(*this == other); }


 inline bool contain(const Vec3s& p) const {
 if (p[0] < min_[0] || p[0] > max_[0]) return false;
 if (p[1] < min_[1] || p[1] > max_[1]) return false;
 if (p[2] < min_[2] || p[2] > max_[2]) return false;

 return true;
 }

 inline bool overlap(const AABB& other) const {
 if (min_[0] > other.max_[0]) return false;
 if (min_[1] > other.max_[1]) return false;
 if (min_[2] > other.max_[2]) return false;

 if (max_[0] < other.min_[0]) return false;
 if (max_[1] < other.min_[1]) return false;
 if (max_[2] < other.min_[2]) return false;

 return true;
 }

 bool overlap(const Plane& p) const;

 bool overlap(const Halfspace& hs) const;

 bool overlap(const AABB& other, const CollisionRequest& request,
 CoalScalar& sqrDistLowerBound) const;

 CoalScalar distance(const AABB& other) const;

 CoalScalar distance(const AABB& other, Vec3s* P, Vec3s* Q) const;

 inline AABB& operator+=(const Vec3s& p) {
 min_ = min_.cwiseMin(p);
 max_ = max_.cwiseMax(p);
 return *this;
 }

 inline AABB& operator+=(const AABB& other) {
 min_ = min_.cwiseMin(other.min_);
 max_ = max_.cwiseMax(other.max_);
 return *this;
 }

 inline AABB operator+(const AABB& other) const {
 AABB res(*this);
 return res += other;
 }

 inline CoalScalar size() const { return (max_ - min_).squaredNorm(); }

 inline Vec3s center() const { return (min_ + max_) * 0.5; }

 inline CoalScalar width() const { return max_[0] - min_[0]; }

 inline CoalScalar height() const { return max_[1] - min_[1]; }

 inline CoalScalar depth() const { return max_[2] - min_[2]; }

 inline CoalScalar volume() const { return width() * height() * depth(); }


 inline bool contain(const AABB& other) const {
 return (other.min_[0] >= min_[0]) && (other.max_[0] <= max_[0]) &&
 (other.min_[1] >= min_[1]) && (other.max_[1] <= max_[1]) &&
 (other.min_[2] >= min_[2]) && (other.max_[2] <= max_[2]);
 }

 inline bool overlap(const AABB& other, AABB& overlap_part) const {
 if (!overlap(other)) {
 return false;
 }

 overlap_part.min_ = min_.cwiseMax(other.min_);
 overlap_part.max_ = max_.cwiseMin(other.max_);
 return true;
 }

 inline bool axisOverlap(const AABB& other, int axis_id) const {
 if (min_[axis_id] > other.max_[axis_id]) return false;
 if (max_[axis_id] < other.min_[axis_id]) return false;

 return true;
 }

 inline AABB& expand(const Vec3s& delta) {
 min_ -= delta;
 max_ += delta;
 return *this;
 }

 inline AABB& expand(const CoalScalar delta) {
 min_.array() -= delta;
 max_.array() += delta;
 return *this;
 }

 inline AABB& expand(const AABB& core, CoalScalar ratio) {
 min_ = min_ * ratio - core.min_;
 max_ = max_ * ratio - core.max_;
 return *this;
 }

 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

static inline AABB translate(const AABB& aabb, const Vec3s& t) {
 AABB res(aabb);
 res.min_ += t;
 res.max_ += t;
 return res;
}

static inline AABB rotate(const AABB& aabb, const Matrix3s& R) {
 AABB res(R * aabb.min_);
 Vec3s corner(aabb.min_);
 const Eigen::DenseIndex bit[3] = {1, 2, 4};
 for (Eigen::DenseIndex ic = 1; ic < 8;
 ++ic) { // ic = 0 corresponds to aabb.min_. Skip it.
 for (Eigen::DenseIndex i = 0; i < 3; ++i) {
 corner[i] = (ic & bit[i]) ? aabb.max_[i] : aabb.min_[i];
 }
 res += R * corner;
 }
 return res;
}

COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const AABB& b1,
 const AABB& b2);

COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const AABB& b1,
 const AABB& b2, const CollisionRequest& request,
 CoalScalar& sqrDistLowerBound);
} // namespace coal

#endif