interval.cpp

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#include "fcl/ccd/interval.h"
#include <iostream>

namespace fcl
{

Interval bound(const Interval& i, FCL_REAL v)
{
  Interval res = i;
  if(v < res.i_[0]) res.i_[0] = v;
  if(v > res.i_[1]) res.i_[1] = v;
  return res;
}

Interval bound(const Interval& i, const Interval& other)
{
  Interval res = i;
  if(other.i_[0] < res.i_[0]) res.i_[0] = other.i_[0];
  if(other.i_[1] > res.i_[1]) res.i_[1] = other.i_[1];
  return res;
}

Interval Interval::operator * (const Interval& other) const
{
  if(other.i_[0] >= 0)
  {
    if(i_[0] >= 0) return Interval(i_[0] * other.i_[0], i_[1] * other.i_[1]);
    if(i_[1] <= 0) return Interval(i_[0] * other.i_[1], i_[1] * other.i_[0]);
    return Interval(i_[0] * other.i_[1], i_[1] * other.i_[1]);
  }
  if(other.i_[1] <= 0)
  {
    if(i_[0] >= 0) return Interval(i_[1] * other.i_[0], i_[0] * other.i_[1]);
    if(i_[1] <= 0) return Interval(i_[1] * other.i_[1], i_[0] * other.i_[0]);
    return Interval(i_[1] * other.i_[0], i_[0] * other.i_[0]);
  }

  if(i_[0] >= 0) return Interval(i_[1] * other.i_[0], i_[1] * other.i_[1]);
  if(i_[1] <= 0) return Interval(i_[0] * other.i_[1], i_[0] * other.i_[0]);

  FCL_REAL v00 = i_[0] * other.i_[0];
  FCL_REAL v11 = i_[1] * other.i_[1];
  if(v00 <= v11)
  {
    FCL_REAL v01 = i_[0] * other.i_[1];
    FCL_REAL v10 = i_[1] * other.i_[0];
    if(v01 < v10) return Interval(v01, v11);
    return Interval(v10, v11);
  }

  FCL_REAL v01 = i_[0] * other.i_[1];
  FCL_REAL v10 = i_[1] * other.i_[0];
  if(v01 < v10) return Interval(v01, v00);
  return Interval(v10, v00);
}

Interval& Interval::operator *= (const Interval& other)
{
  if(other.i_[0] >= 0)
  {
    if(i_[0] >= 0) 
    {
      i_[0] *= other.i_[0];
      i_[1] *= other.i_[1];
    }
    else if(i_[1] <= 0)
    {
      i_[0] *= other.i_[1];
      i_[1] *= other.i_[0];
    }
    else
    {
      i_[0] *= other.i_[1];
      i_[1] *= other.i_[1];
    }
    return *this;
  }

  if(other.i_[1] <= 0)
  {
    if(i_[0] >= 0)
    {
      FCL_REAL tmp = i_[0];
      i_[0] = i_[1] * other.i_[0];
      i_[1] = tmp * other.i_[1];
    }
    else if(i_[1] <= 0)
    {
      FCL_REAL tmp = i_[0];
      i_[0] = i_[1] * other.i_[1];
      i_[1] = tmp * other.i_[0];
    }
    else
    {
      FCL_REAL tmp = i_[0];
      i_[0] = i_[1] * other.i_[0];
      i_[1] = tmp * other.i_[0];  
    }
    return *this;
  }

  if(i_[0] >= 0) 
  {
    i_[0] = i_[1] * other.i_[0];
    i_[1] *= other.i_[1];
    return *this;
  }

  if(i_[1] <= 0) 
  {
    i_[1] = i_[0] * other.i_[0];
    i_[0] *= other.i_[1];
    return *this;
  }

  FCL_REAL v00 = i_[0] * other.i_[0];
  FCL_REAL v11 = i_[1] * other.i_[1];
  if(v00 <= v11)
  {
    FCL_REAL v01 = i_[0] * other.i_[1];
    FCL_REAL v10 = i_[1] * other.i_[0];
    if(v01 < v10)
    {
      i_[0] = v01;
      i_[1] = v11;
    }
    else
    {
      i_[0] = v10;
      i_[1] = v11;
    }
    return *this;
  }

  FCL_REAL v01 = i_[0] * other.i_[1];
  FCL_REAL v10 = i_[1] * other.i_[0];
  if(v01 < v10)
  {
    i_[0] = v01;
    i_[1] = v00;
  }
  else
  {
    i_[0] = v10;
    i_[1] = v00;
  }

  return *this;
}

Interval Interval::operator / (const Interval& other) const
{
  return *this * Interval(1.0 / other.i_[1], 1.0 / other.i_[0]);
}

Interval& Interval::operator /= (const Interval& other)
{
  *this *= Interval(1.0 / other.i_[1], 1.0 / other.i_[0]);
  return *this;
}

void Interval::print() const
{
  std::cout << "[" << i_[0] << ", " << i_[1] << "]" << std::endl;
}

}