/usr/include/wfmath-0.3/wfmath/rotbox_funcs.h is in libwfmath-0.3-dev 0.3.12-3ubuntu2.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 | // rotbox_funcs.h (line rotbox implementation)
//
// The WorldForge Project
// Copyright (C) 2000, 2001 The WorldForge Project
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// For information about WorldForge and its authors, please contact
// the Worldforge Web Site at http://www.worldforge.org.
//
// Author: Ron Steinke
#ifndef WFMATH_ROT_BOX_FUNCS_H
#define WFMATH_ROT_BOX_FUNCS_H
#include <wfmath/rotbox.h>
#include <wfmath/vector.h>
#include <wfmath/point.h>
#include <wfmath/axisbox.h>
#include <wfmath/ball.h>
#include <cassert>
namespace WFMath {
template<int dim>
inline RotBox<dim>& RotBox<dim>::operator=(const RotBox<dim>& a)
{
m_corner0 = a.m_corner0;
m_size = a.m_size;
m_orient = a.m_orient;
return *this;
}
template<int dim>
inline bool RotBox<dim>::isEqualTo(const RotBox<dim>& b, double epsilon) const
{
return Equal(m_corner0, b.m_corner0, epsilon)
&& Equal(m_size, b.m_size, epsilon)
&& Equal(m_orient, b.m_orient, epsilon);
}
template<int dim>
inline Point<dim> RotBox<dim>::getCorner(int i) const
{
assert(i >= 0 && i < (1 << dim));
Vector<dim> dist;
if(i == 0)
return m_corner0;
for(int j = 0; j < dim; ++j)
dist[j] = (i & (1 << j)) ? m_size[j] : 0;
dist.setValid(m_size.isValid());
return m_corner0 + Prod(dist, m_orient);
}
template<int dim>
AxisBox<dim> RotBox<dim>::boundingBox() const
{
Point<dim> min = m_corner0, max = m_corner0;
// for(int i = 0; i < dim; ++i) {
// Vector<dim> edge;
// edge.zero();
// edge[i] = m_size[i];
// edge = Prod(edge, m_orient);
// // Edge now represents the i'th edge
// // pointing away from m_corner0
// for(int j = 0; j < dim; ++j) {
// if(edge[j] < 0)
// min[j] += edge[j];
// else
// max[j] += edge[j];
// }
// }
// The following is equivalent to the above. The above is easier to understand,
// so leave it in as a comment.
for(int i = 0; i < dim; ++i) {
for(int j = 0; j < dim; ++j) {
CoordType value = m_orient.elem(j, i) * m_size[j];
if(value < 0)
min[i] += value;
else
max[i] += value;
}
}
bool valid = isValid();
min.setValid(valid);
max.setValid(valid);
return AxisBox<dim>(min, max, true);
}
// This is here, instead of defined in the class, to
// avoid include order problems
template<int dim>
Point<dim> Point<dim>::toParentCoords(const RotBox<dim>& coords) const
{
return coords.corner0() + (*this - Point().setToOrigin()) * coords.orientation();
}
template<int dim>
Point<dim> Point<dim>::toLocalCoords(const RotBox<dim>& coords) const
{
return Point().setToOrigin() + coords.orientation() * (*this - coords.corner0());
}
} // namespace WFMath
#endif // WFMATH_ROT_BOX_FUNCS_H
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