bbox.cpp
Go to the documentation of this file.00001 /****************************************************************************** 00002 * \file 00003 * 00004 * $Id:$ 00005 * 00006 * Copyright (C) Brno University of Technology (BUT) 00007 * 00008 * This file is part of software developed by dcgm-robotics@FIT group. 00009 * 00010 * Author: Jan Gorig (xgorig01@stud.fit.vutbr.cz) 00011 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz) 00012 * Date: 12/04/2012 00013 * 00014 * This file is free software: you can redistribute it and/or modify 00015 * it under the terms of the GNU Lesser General Public License as published by 00016 * the Free Software Foundation, either version 3 of the License, or 00017 * (at your option) any later version. 00018 * 00019 * This file is distributed in the hope that it will be useful, 00020 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00021 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00022 * GNU Lesser General Public License for more details. 00023 * 00024 * You should have received a copy of the GNU Lesser General Public License 00025 * along with this file. If not, see <http://www.gnu.org/licenses/>. 00026 */ 00027 00028 #include <cmath> 00029 #include <srs_env_model/but_server/objtree/bbox.h> 00030 00031 namespace objtree 00032 { 00033 00038 BBox::BBox(const Box &box) : 00039 m_box(box) 00040 { 00041 m_type = ALIGNED_BOUNDING_BOX; 00042 } 00043 00049 bool BBox::fitsIntoBox(const Box &box) const 00050 { 00051 if(m_box.x >= box.x && m_box.y >= box.y && m_box.z >= box.z && m_box.x+m_box.w <= box.x+box.w && m_box.y+m_box.h <= box.y+box.h && m_box.z+m_box.d <= box.z+box.d) 00052 { 00053 return true; 00054 } 00055 00056 return false; 00057 } 00058 00064 bool BBox::interfereWithBox(const Box &box) const 00065 { 00066 if(m_box.x > box.x+box.w || m_box.x+m_box.w < box.x) 00067 { 00068 return false; 00069 } 00070 00071 if(m_box.y > box.y+box.h || m_box.y+m_box.h < box.y) 00072 { 00073 return false; 00074 } 00075 00076 if(m_box.z > box.z+box.d || m_box.z+m_box.d < box.z) 00077 { 00078 return false; 00079 } 00080 00081 return true; 00082 } 00083 00089 bool BBox::isSimilar(const Object *object) const 00090 { 00091 if(object->type() != ALIGNED_BOUNDING_BOX) return false; 00092 00093 return isSimilarBBox((BBox*)object); 00094 } 00095 00101 bool BBox::isSimilarBBox(const BBox *box) const 00102 { 00103 00104 if(fabs(box->m_box.x-m_box.x) > 0.5f) return false; 00105 if(fabs(box->m_box.y-m_box.y) > 0.5f) return false; 00106 if(fabs(box->m_box.z-m_box.z) > 0.5f) return false; 00107 00108 if(fabs(box->m_box.w-m_box.w) > 0.2f) return false; 00109 if(fabs(box->m_box.h-m_box.h) > 0.2f) return false; 00110 if(fabs(box->m_box.d-m_box.d) > 0.2f) return false; 00111 00112 return true; 00113 } 00114 00122 bool BBox::isPointInside(float x, float y, float z) const 00123 { 00124 return x >= m_box.x && x <= m_box.x+m_box.w 00125 && y >= m_box.y && y <= m_box.y+m_box.h 00126 && z >= m_box.z && z <= m_box.z+m_box.d; 00127 } 00128 00133 const Box& BBox::box() const 00134 { 00135 return m_box; 00136 } 00137 00138 }