coal/BV/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