Ignition Math

API Reference

6.8.0
AxisAlignedBox Class Reference

Mathematical representation of a box that is aligned along an X,Y,Z axis. More...

#include <ignition/math/AxisAlignedBox.hh>

Public Member Functions

AxisAlignedBox ()
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...

AxisAlignedBox (const Vector3d &_vec1, const Vector3d &_vec2)
Constructor. This constructor will compute the box's minimum and maximum corners based on the two arguments. More...

AxisAlignedBox (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...

AxisAlignedBox (const AxisAlignedBox &_b)
Copy Constructor. More...

virtual ~AxisAlignedBox ()
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...

double DensityFromMass (const double _mass) const
Compute the cylinder's density given a mass value. The cylinder is assumed to be solid with uniform density. This function requires the cylinder's radius and length to be set to values greater than zero. The Material of the cylinder is ignored. More...

std::tuple< bool, double, Vector3dIntersect (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, Vector3dIntersect (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 AxisAlignedBox &_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...

bool MassMatrix (MassMatrix3d &_massMat) const
Get the mass matrix for this box. This function is only meaningful if the box's size and material have been set. More...

const MaterialMaterial () const
Get the material associated with this box. More...

const Vector3dMax () const
Get the maximum corner. More...

Vector3dMax ()
Get a mutable version of the maximum corner. More...

void Merge (const AxisAlignedBox &_box)
Merge a box with this box. More...

const Vector3dMin () const
Get the minimum corner. More...

Vector3dMin ()
Get a mutable version of the minimum corner. More...

bool operator!= (const AxisAlignedBox &_b) const
Inequality test operator. More...

AxisAlignedBox operator+ (const AxisAlignedBox &_b) const
Addition operator. result = this + _b. More...

AxisAlignedBox operator+ (const Vector3d &_v)
Add a vector to the min and max values. More...

const AxisAlignedBoxoperator+= (const AxisAlignedBox &_b)
Addition set operator. this = this + _b. More...

AxisAlignedBox operator- (const Vector3d &_v)
Subtract a vector from the min and max values. More...

AxisAlignedBoxoperator= (const AxisAlignedBox &_b)
Assignment operator. Set this box to the parameter. More...

bool operator== (const AxisAlignedBox &_b) const
Equality test operator. More...

bool SetDensityFromMass (const double _mass)
Set the density of this box based on a mass value. Density is computed using double DensityFromMass(const double _mass) const. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The existing Material density value is overwritten only if the return value from this true. More...

void SetMaterial (const Material &_mat)
Set the material associated with this box. More...

math::Vector3d Size () const
Get the size of the box. More...

double Volume () const
Get the volume of the box in m^3. 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::ostreamoperator<< (std::ostream &_out, const AxisAlignedBox &_b)
Output operator. More...

Detailed Description

Mathematical representation of a box that is aligned along an X,Y,Z axis.

◆ AxisAlignedBox() [1/4]

 AxisAlignedBox ( )

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.

◆ AxisAlignedBox() [2/4]

 AxisAlignedBox ( const Vector3d & _vec1, const Vector3d & _vec2 )

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

◆ AxisAlignedBox() [3/4]

 AxisAlignedBox ( 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

◆ AxisAlignedBox() [4/4]

 AxisAlignedBox ( const AxisAlignedBox & _b )

Copy Constructor.

Parameters
 [in] _b AxisAlignedBox to copy

◆ ~AxisAlignedBox()

 virtual ~AxisAlignedBox ( )
virtual

Destructor.

◆ Center()

 math::Vector3d Center ( ) const

Get the box center.

Returns
The center position of the box

Referenced by Plane< T >::Side().

◆ 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.

◆ DensityFromMass()

 double DensityFromMass ( const double _mass ) const

Compute the cylinder's density given a mass value. The cylinder is assumed to be solid with uniform density. This function requires the cylinder's radius and length to be set to values greater than zero. The Material of the cylinder is ignored.

Parameters
 [in] _mass Mass of the cylinder, in kg. This value should be greater than zero.
Returns
Density of the cylinder in kg/m^3. A negative value is returned if radius, length or _mass is <= 0.

◆ Intersect() [1/2]

 std::tuple 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 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 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 AxisAlignedBox & _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 AxisAlignedBox to check for intersection with this box.
Returns
True if this box intersects _box.

◆ MassMatrix()

 bool MassMatrix ( MassMatrix3d & _massMat ) const

Get the mass matrix for this box. This function is only meaningful if the box's size and material have been set.

Parameters
 [out] _massMat The computed mass matrix will be stored here.
Returns
False if computation of the mass matrix failed, which could be due to an invalid size (<=0) or density (<=0).

◆ Material()

 const Material& Material ( ) const

Get the material associated with this box.

Returns
The material assigned to this box.

◆ Max() [1/2]

 const Vector3d& Max ( ) const

Get the maximum corner.

Returns
The Vector3d that is the maximum corner of the box.

Referenced by ignition::math::eigen3::convert().

◆ 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()

 void Merge ( const AxisAlignedBox & _box )

Merge a box with this box.

Parameters
 [in] _box AxisAlignedBox to add to this box

◆ Min() [1/2]

 const Vector3d& Min ( ) const

Get the minimum corner.

Returns
The Vector3d that is the minimum corner of the box.

Referenced by ignition::math::eigen3::convert().

◆ 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 AxisAlignedBox & _b ) const

Inequality test operator.

Parameters
 [in] _b AxisAlignedBox to test
Returns
True if not equal

◆ operator+() [1/2]

 AxisAlignedBox operator+ ( const AxisAlignedBox & _b ) const

Addition operator. result = this + _b.

Parameters
Returns
The new box

◆ operator+() [2/2]

 AxisAlignedBox operator+ ( const Vector3d & _v )

Add a vector to the min and max values.

Parameters
 _v The vector to use during addition
Returns
The new box

◆ operator+=()

 const AxisAlignedBox& operator+= ( const AxisAlignedBox & _b )

Addition set operator. this = this + _b.

Parameters
Returns
This new box

◆ operator-()

 AxisAlignedBox operator- ( const Vector3d & _v )

Subtract a vector from the min and max values.

Parameters
 _v The vector to use during subtraction
Returns
The new box

◆ operator=()

 AxisAlignedBox& operator= ( const AxisAlignedBox & _b )

Assignment operator. Set this box to the parameter.

Parameters
 [in] _b AxisAlignedBox to copy
Returns
The new box.

◆ operator==()

 bool operator== ( const AxisAlignedBox & _b ) const

Equality test operator.

Parameters
 [in] _b AxisAlignedBox to test
Returns
True if equal

◆ SetDensityFromMass()

 bool SetDensityFromMass ( const double _mass )

Set the density of this box based on a mass value. Density is computed using double DensityFromMass(const double _mass) const. The box is assumed to be solid with uniform density. This function requires the box's size to be set to values greater than zero. The existing Material density value is overwritten only if the return value from this true.

Parameters
 [in] _mass Mass of the box, in kg. This value should be greater than zero.
Returns
True if the density was set. False is returned if the box's size or the _mass value are <= 0.
double DensityFromMass(const double _mass) const

◆ SetMaterial()

 void SetMaterial ( const Material & _mat )

Set the material associated with this box.

Parameters
 [in] _mat The material assigned to this box

◆ Size()

 math::Vector3d Size ( ) const

Get the size of the box.

Returns
Size of the box

Referenced by Plane< T >::Side().

◆ Volume()

 double Volume ( ) const

Get the volume of the box in m^3.

Returns
Volume of the box in m^3.

◆ 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

◆ operator<<

 std::ostream& operator<< ( std::ostream & _out, const AxisAlignedBox & _b )
friend

Output operator.

Parameters
 [in] _out Output stream [in] _b AxisAlignedBox to output to the stream
Returns
The stream

The documentation for this class was generated from the following file: