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minor changes in AlignedBox needed for BVH module

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This commit is contained in:
Gael Guennebaud 2009-03-11 14:21:55 +00:00
parent b8f46090ff
commit 02e97ac0ae
1 changed files with 40 additions and 1 deletions
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41
Eigen/src/Geometry/AlignedBox.h
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@ -41,7 +41,7 @@ template <typename _Scalar, int _AmbientDim>
class AlignedBox
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
enum { AmbientDimAtCompileTime = _AmbientDim };
typedef _Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
@ -85,6 +85,9 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
/** \returns a non const reference to the maximal corner */
inline VectorType& max() { return m_max; }
/** \returns the center of the box */
inline VectorType center() const { return (m_min + m_max) / 2; }
/** \returns true if the point \a p is inside the box \c *this. */
inline bool contains(const VectorType& p) const
{ return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
@ -105,6 +108,14 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
inline AlignedBox& clamp(const AlignedBox& b)
{ m_min = m_min.cwise().max(b.m_min); m_max = m_max.cwise().min(b.m_max); return *this; }
/** Returns an AlignedBox that is the intersection of \a b and \c *this */
inline AlignedBox intersection(const AlignedBox &b) const
{ return AlignedBox(m_min.cwise().max(b.m_min), m_max.cwise().min(b.m_max)); }
/** Returns an AlignedBox that is the union of \a b and \c *this */
inline AlignedBox merged(const AlignedBox &b) const
{ return AlignedBox(m_min.cwise().min(b.m_min), m_max.cwise().max(b.m_max)); }
/** Translate \c *this by the vector \a t and returns a reference to \c *this. */
inline AlignedBox& translate(const VectorType& t)
{ m_min += t; m_max += t; return *this; }
@ -115,6 +126,12 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
*/
inline Scalar squaredExteriorDistance(const VectorType& p) const;
/** \returns the squared distance between the boxes \a b and \c *this,
* and zero if the boxes intersect.
* \sa exteriorDistance()
*/
inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
/** \returns the distance between the point \a p and the box \c *this,
* and zero if \a p is inside the box.
* \sa squaredExteriorDistance()
@ -122,6 +139,13 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
inline Scalar exteriorDistance(const VectorType& p) const
{ return ei_sqrt(squaredExteriorDistance(p)); }
/** \returns the distance between the boxes \a b and \c *this,
* and zero if the boxes intersect.
* \sa squaredExteriorDistance()
*/
inline Scalar exteriorDistance(const AlignedBox& b) const
{ return ei_sqrt(squaredExteriorDistance(b)); }
/** \returns \c *this with scalar type casted to \a NewScalarType
*
* Note that if \a NewScalarType is equal to the current scalar type of \c *this
@ -170,4 +194,19 @@ inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const Vecto
return dist2;
}
template<typename Scalar,int AmbiantDim>
inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const AlignedBox& b) const
{
Scalar dist2 = 0.;
Scalar aux;
for (int k=0; k<dim(); ++k)
{
if ((aux = (b.m_min[k]-m_max[k]))>0.)
dist2 += aux*aux;
else if ( (aux = (m_min[k]-b.m_max[k]))>0. )
dist2 += aux*aux;
}
return dist2;
}
#endif // EIGEN_ALIGNEDBOX_H