Mathematical representation of a box and related functions. More...
#include <ignition/math/Box.hh>
Public Member Functions | |
Box () | |
Default constructor. This constructor will set the box's minimum and maximum corners to the highest (max) and lowest floating point values available to indicate that it is uninitialized. The default box does not intersect any other boxes or contain any points since it has no extent. Its center is the origin and its side lengths are 0. More... | |
Box (const Vector3d &_vec1, const Vector3d &_vec2) | |
Constructor. This constructor will compute the box's minimum and maximum corners based on the two arguments. More... | |
Box (double _vec1X, double _vec1Y, double _vec1Z, double _vec2X, double _vec2Y, double _vec2Z) | |
Constructor. This constructor will compute the box's minimum and maximum corners based on the arguments. More... | |
Box (const Box &_b) | |
Copy Constructor. More... | |
virtual | ~Box () |
Destructor. More... | |
math::Vector3d | Center () const |
Get the box center. More... | |
bool | Contains (const Vector3d &_p) const |
Check if a point lies inside the box. More... | |
std::tuple< bool, double, Vector3d > | Intersect (const Vector3d &_origin, const Vector3d &_dir, const double _min, const double _max) const |
Check if a ray (origin, direction) intersects the box. More... | |
std::tuple< bool, double, Vector3d > | Intersect (const Line3d &_line) const |
Check if a line intersects the box. More... | |
bool | IntersectCheck (const Vector3d &_origin, const Vector3d &_dir, const double _min, const double _max) const |
Check if a ray (origin, direction) intersects the box. More... | |
std::tuple< bool, double > | IntersectDist (const Vector3d &_origin, const Vector3d &_dir, const double _min, const double _max) const |
Check if a ray (origin, direction) intersects the box. More... | |
bool | Intersects (const Box &_box) const |
Test box intersection. This test will only work if both box's minimum corner is less than or equal to their maximum corner. More... | |
const Vector3d & | Max () const |
Get the maximum corner. More... | |
Vector3d & | Max () |
Get a mutable version of the maximum corner. More... | |
void | Merge (const Box &_box) |
Merge a box with this box. More... | |
const Vector3d & | Min () const |
Get the minimum corner. More... | |
Vector3d & | Min () |
Get a mutable version of the minimum corner. More... | |
bool | operator!= (const Box &_b) const |
Inequality test operator. More... | |
Box | operator+ (const Box &_b) const |
Addition operator. result = this + _b. More... | |
const Box & | operator+= (const Box &_b) |
Addition set operator. this = this + _b. More... | |
Box | operator- (const Vector3d &_v) |
Subtract a vector from the min and max values. More... | |
Box & | operator= (const Box &_b) |
Assignment operator. Set this box to the parameter. More... | |
bool | operator== (const Box &_b) const |
Equality test operator. More... | |
math::Vector3d | Size () const |
Get the size of the box. More... | |
double | XLength () const |
Get the length along the x dimension. More... | |
double | YLength () const |
Get the length along the y dimension. More... | |
double | ZLength () const |
Get the length along the z dimension. More... | |
Friends | |
std::ostream & | operator<< (std::ostream &_out, const Box &_b) |
Output operator. More... | |
Detailed Description
Mathematical representation of a box and related functions.
Constructor & Destructor Documentation
◆ Box() [1/4]
Box | ( | ) |
Default constructor. This constructor will set the box's minimum and maximum corners to the highest (max) and lowest floating point values available to indicate that it is uninitialized. The default box does not intersect any other boxes or contain any points since it has no extent. Its center is the origin and its side lengths are 0.
◆ Box() [2/4]
Constructor. This constructor will compute the box's minimum and maximum corners based on the two arguments.
- Parameters
-
[in] _vec1 One corner of the box [in] _vec2 Another corner of the box
◆ Box() [3/4]
Box | ( | double | _vec1X, |
double | _vec1Y, | ||
double | _vec1Z, | ||
double | _vec2X, | ||
double | _vec2Y, | ||
double | _vec2Z | ||
) |
Constructor. This constructor will compute the box's minimum and maximum corners based on the arguments.
- Parameters
-
[in] _vec1X One corner's X position [in] _vec1Y One corner's Y position [in] _vec1Z One corner's Z position [in] _vec2X Other corner's X position [in] _vec2Y Other corner's Y position [in] _vec2Z Other corner's Z position
◆ Box() [4/4]
◆ ~Box()
|
virtual |
Destructor.
Member Function Documentation
◆ Center()
math::Vector3d Center | ( | ) | const |
◆ Contains()
bool Contains | ( | const Vector3d & | _p | ) | const |
Check if a point lies inside the box.
- Parameters
-
[in] _p Point to check.
- Returns
- True if the point is inside the box.
◆ Intersect() [1/2]
std::tuple<bool, double, Vector3d> Intersect | ( | const Vector3d & | _origin, |
const Vector3d & | _dir, | ||
const double | _min, | ||
const double | _max | ||
) | const |
Check if a ray (origin, direction) intersects the box.
- Parameters
-
[in] _origin Origin of the ray. [in] _dir Direction of the ray. This ray will be normalized. [in] _min Minimum allowed distance. [in] _max Maximum allowed distance.
- Returns
- A boolean, double, Vector3d tuple. The boolean value is true if the line intersects the box.
The double is the distance from the ray's start to the closest intersection point on the box, minus the _min distance. For example, if _min == 0.5 and the intersection happens at a distance of 2.0 from _origin then returned distance is 1.5. The double value is zero when the boolean value is false. The
Vector3d is the intersection point on the box. The Vector3d value is zero if the boolean value is false.
◆ Intersect() [2/2]
std::tuple<bool, double, Vector3d> Intersect | ( | const Line3d & | _line | ) | const |
Check if a line intersects the box.
- Parameters
-
[in] _line The line to check against this box.
- Returns
- A boolean, double, Vector3d tuple. The boolean value is true if the line intersects the box. The double is the distance from the line's start to the closest intersection point on the box. The double value is zero when the boolean value is false. The Vector3d is the intersection point on the box. The Vector3d value is zero if the boolean value is false.
◆ IntersectCheck()
bool IntersectCheck | ( | const Vector3d & | _origin, |
const Vector3d & | _dir, | ||
const double | _min, | ||
const double | _max | ||
) | const |
Check if a ray (origin, direction) intersects the box.
- Parameters
-
[in] _origin Origin of the ray. [in] _dir Direction of the ray. This ray will be normalized. [in] _min Minimum allowed distance. [in] _max Maximum allowed distance.
- Returns
- A boolean
◆ IntersectDist()
std::tuple<bool, double> IntersectDist | ( | const Vector3d & | _origin, |
const Vector3d & | _dir, | ||
const double | _min, | ||
const double | _max | ||
) | const |
Check if a ray (origin, direction) intersects the box.
- Parameters
-
[in] _origin Origin of the ray. [in] _dir Direction of the ray. This ray will be normalized. [in] _min Minimum allowed distance. [in] _max Maximum allowed distance.
- Returns
- A boolean and double tuple. The boolean value is true if the line intersects the box.
The double is the distance from the ray's start to the closest intersection point on the box, minus the _min distance. For example, if _min == 0.5 and the intersection happens at a distance of 2.0 from _origin then returned distance is 1.5.
The double value is zero when the boolean value is false.
◆ Intersects()
bool Intersects | ( | const Box & | _box | ) | const |
Test box intersection. This test will only work if both box's minimum corner is less than or equal to their maximum corner.
- Parameters
-
[in] _box Box to check for intersection with this box.
- Returns
- True if this box intersects _box.
◆ Max() [1/2]
const Vector3d& Max | ( | ) | const |
Get the maximum corner.
- Returns
- The Vector3d that is the maximum corner of the box.
◆ Max() [2/2]
Vector3d& Max | ( | ) |
Get a mutable version of the maximum corner.
- Returns
- The Vector3d that is the maximum corner of the box.
◆ Merge()
◆ Min() [1/2]
const Vector3d& Min | ( | ) | const |
Get the minimum corner.
- Returns
- The Vector3d that is the minimum corner of the box.
◆ Min() [2/2]
Vector3d& Min | ( | ) |
Get a mutable version of the minimum corner.
- Returns
- The Vector3d that is the minimum corner of the box.
◆ operator!=()
bool operator!= | ( | const Box & | _b | ) | const |
◆ operator+()
◆ operator+=()
◆ operator-()
Subtract a vector from the min and max values.
- Parameters
-
_v The vector to use during subtraction
- Returns
- The new box
◆ operator=()
Assignment operator. Set this box to the parameter.
- Parameters
-
[in] _b Box to copy
- Returns
- The new box.
◆ operator==()
bool operator== | ( | const Box & | _b | ) | const |
◆ Size()
math::Vector3d Size | ( | ) | const |
◆ XLength()
double XLength | ( | ) | const |
Get the length along the x dimension.
- Returns
- Double value of the length in the x dimension
◆ YLength()
double YLength | ( | ) | const |
Get the length along the y dimension.
- Returns
- Double value of the length in the y dimension
◆ ZLength()
double ZLength | ( | ) | const |
Get the length along the z dimension.
- Returns
- Double value of the length in the z dimension
Friends And Related Function Documentation
◆ operator<<
|
friend |
Output operator.
- Parameters
-
[in] _out Output stream [in] _b Box to output to the stream
- Returns
- The stream
The documentation for this class was generated from the following file: