SimTK::OrientedBoundingBox Class Reference

This class represents a rectangular box with arbitrary position and orientation. More...

Public Member Functions
	OrientedBoundingBox ()
	OrientedBoundingBox (const Transform &transform, const Vec3 &size)
	Create an OrientedBoundingBox. More...
	OrientedBoundingBox (const Vector_< Vec3 > &points)
	Create an OrientedBoundingBox which encloses a set of points. More...
const Transform &	getTransform () const
	Get the position and orientation of the box. More...
const Vec3 &	getSize () const
	Get the dimensions of the box. More...
bool	containsPoint (const Vec3 &point) const
	Determine whether a point is inside the box. More...
bool	intersectsBox (const OrientedBoundingBox &box) const
	Determine whether this box intersects another bounding box at any point. More...
bool	intersectsRay (const Vec3 &origin, const UnitVec3 &direction, Real &distance) const
	Determine whether a ray intersects this bounding box. More...
Vec3	findNearestPoint (const Vec3 &position) const
	Given a point in space, find the point inside the bounding box which is nearest to it. More...
void	getCorners (Vec3 corners[8]) const
	Get the locations of the eight corners of the box. More...

Detailed Description

This class represents a rectangular box with arbitrary position and orientation.

It is used in collision detection as a bounding volume for geometry of various types.

An OrientedBoundingBox is defined by a Transform that specifies its position and orientation, and a Vec3 that specifies its size. In the reference frame defined by the Transform, one corner is at the origin and the opposite corner is at the point returned by getSize().

Constructor & Destructor Documentation

SimTK::OrientedBoundingBox::OrientedBoundingBox

(

)

SimTK::OrientedBoundingBox::OrientedBoundingBox	(	const Transform &	transform,
		const Vec3 &	size
	)

Create an OrientedBoundingBox.

Parameters

transform	specifies the position and orientation of the box
size	specifies the dimensions of the box

SimTK::OrientedBoundingBox::OrientedBoundingBox ( const Vector_< Vec3 > &  points )

explicit

Create an OrientedBoundingBox which encloses a set of points.

Member Function Documentation

const Transform& SimTK::OrientedBoundingBox::getTransform

(

)

const

Get the position and orientation of the box.

const Vec3& SimTK::OrientedBoundingBox::getSize

(

)

const

Get the dimensions of the box.

bool SimTK::OrientedBoundingBox::containsPoint

(

const Vec3 &

point

)

const

Determine whether a point is inside the box.

bool SimTK::OrientedBoundingBox::intersectsBox

(

const OrientedBoundingBox &

box

)

const

Determine whether this box intersects another bounding box at any point.

bool SimTK::OrientedBoundingBox::intersectsRay	(	const Vec3 &	origin,
		const UnitVec3 &	direction,
		Real &	distance
	)		const

Determine whether a ray intersects this bounding box.

Parameters

origin	the position at which the ray begins
direction	the ray direction
distance	if an intersection is found, the distance from the ray origin to the intersection point is stored in this. Otherwise, it is left unchanged.

Returns

true if an intersection is found, false otherwise

Vec3 SimTK::OrientedBoundingBox::findNearestPoint

(

const Vec3 &

position

)

const

Given a point in space, find the point inside the bounding box which is nearest to it.

void SimTK::OrientedBoundingBox::getCorners

(

Vec3

corners[8]

)

const

Get the locations of the eight corners of the box.

Parameters

corners

the corner locations are stored in this array

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

• OrientedBoundingBox.h