kDOP.h

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#ifndef COAL_KDOP_H
#define COAL_KDOP_H

#include "coal/fwd.hh"
#include "coal/data_types.h"

namespace coal {

struct CollisionRequest;


template <short N>
class COAL_DLLAPI KDOP {
 protected:
 Eigen::Array<CoalScalar, N, 1> dist_;

 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 KDOP();

 KDOP(const Vec3s& v);

 KDOP(const Vec3s& a, const Vec3s& b);

 bool operator==(const KDOP& other) const {
 return (dist_ == other.dist_).all();
 }

 bool operator!=(const KDOP& other) const {
 return (dist_ != other.dist_).any();
 }

 bool overlap(const KDOP<N>& other) const;

 bool overlap(const KDOP<N>& other, const CollisionRequest& request,
 CoalScalar& sqrDistLowerBound) const;

 CoalScalar distance(const KDOP<N>& other, Vec3s* P = NULL,
 Vec3s* Q = NULL) const;

 KDOP<N>& operator+=(const Vec3s& p);

 KDOP<N>& operator+=(const KDOP<N>& other);

 KDOP<N> operator+(const KDOP<N>& other) const;

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

 inline Vec3s center() const {
 return (dist_.template head<3>() + dist_.template segment<3>(N / 2)) / 2;
 }

 inline CoalScalar width() const { return dist_[N / 2] - dist_[0]; }

 inline CoalScalar height() const { return dist_[N / 2 + 1] - dist_[1]; }

 inline CoalScalar depth() const { return dist_[N / 2 + 2] - dist_[2]; }

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

 inline CoalScalar dist(short i) const { return dist_[i]; }

 inline CoalScalar& dist(short i) { return dist_[i]; }

 bool inside(const Vec3s& p) const;
};

template <short N>
bool overlap(const Matrix3s& /*R0*/, const Vec3s& /*T0*/, const KDOP<N>& /*b1*/,
 const KDOP<N>& /*b2*/) {
 COAL_THROW_PRETTY("not implemented", std::logic_error);
}

template <short N>
bool overlap(const Matrix3s& /*R0*/, const Vec3s& /*T0*/, const KDOP<N>& /*b1*/,
 const KDOP<N>& /*b2*/, const CollisionRequest& /*request*/,
 CoalScalar& /*sqrDistLowerBound*/) {
 COAL_THROW_PRETTY("not implemented", std::logic_error);
}

template <short N>
COAL_DLLAPI KDOP<N> translate(const KDOP<N>& bv, const Vec3s& t);

} // namespace coal

#endif