1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
5//
6// This Source Code Form is subject to the terms of the Mozilla
7// Public License v. 2.0. If a copy of the MPL was not distributed
8// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9
10// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
11
12namespace Eigen {
13
14/** \geometry_module \ingroup Geometry_Module
15  * \nonstableyet
16  *
17  * \class AlignedBox
18  *
19  * \brief An axis aligned box
20  *
21  * \param _Scalar the type of the scalar coefficients
22  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
23  *
24  * This class represents an axis aligned box as a pair of the minimal and maximal corners.
25  */
26template <typename _Scalar, int _AmbientDim>
27class AlignedBox
28{
29public:
30EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
31  enum { AmbientDimAtCompileTime = _AmbientDim };
32  typedef _Scalar Scalar;
33  typedef typename NumTraits<Scalar>::Real RealScalar;
34  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
35
36  /** Default constructor initializing a null box. */
37  inline AlignedBox()
38  { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
39
40  /** Constructs a null box with \a _dim the dimension of the ambient space. */
41  inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
42  { setNull(); }
43
44  /** Constructs a box with extremities \a _min and \a _max. */
45  inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
46
47  /** Constructs a box containing a single point \a p. */
48  inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
49
50  ~AlignedBox() {}
51
52  /** \returns the dimension in which the box holds */
53  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
54
55  /** \returns true if the box is null, i.e, empty. */
56  inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
57
58  /** Makes \c *this a null/empty box. */
59  inline void setNull()
60  {
61    m_min.setConstant( (std::numeric_limits<Scalar>::max)());
62    m_max.setConstant(-(std::numeric_limits<Scalar>::max)());
63  }
64
65  /** \returns the minimal corner */
66  inline const VectorType& (min)() const { return m_min; }
67  /** \returns a non const reference to the minimal corner */
68  inline VectorType& (min)() { return m_min; }
69  /** \returns the maximal corner */
70  inline const VectorType& (max)() const { return m_max; }
71  /** \returns a non const reference to the maximal corner */
72  inline VectorType& (max)() { return m_max; }
73
74  /** \returns true if the point \a p is inside the box \c *this. */
75  inline bool contains(const VectorType& p) const
76  { return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
77
78  /** \returns true if the box \a b is entirely inside the box \c *this. */
79  inline bool contains(const AlignedBox& b) const
80  { return (m_min.cwise()<=(b.min)()).all() && ((b.max)().cwise()<=m_max).all(); }
81
82  /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
83  inline AlignedBox& extend(const VectorType& p)
84  { m_min = (m_min.cwise().min)(p); m_max = (m_max.cwise().max)(p); return *this; }
85
86  /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
87  inline AlignedBox& extend(const AlignedBox& b)
88  { m_min = (m_min.cwise().min)(b.m_min); m_max = (m_max.cwise().max)(b.m_max); return *this; }
89
90  /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
91  inline AlignedBox& clamp(const AlignedBox& b)
92  { m_min = (m_min.cwise().max)(b.m_min); m_max = (m_max.cwise().min)(b.m_max); return *this; }
93
94  /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
95  inline AlignedBox& translate(const VectorType& t)
96  { m_min += t; m_max += t; return *this; }
97
98  /** \returns the squared distance between the point \a p and the box \c *this,
99    * and zero if \a p is inside the box.
100    * \sa exteriorDistance()
101    */
102  inline Scalar squaredExteriorDistance(const VectorType& p) const;
103
104  /** \returns the distance between the point \a p and the box \c *this,
105    * and zero if \a p is inside the box.
106    * \sa squaredExteriorDistance()
107    */
108  inline Scalar exteriorDistance(const VectorType& p) const
109  { return ei_sqrt(squaredExteriorDistance(p)); }
110
111  /** \returns \c *this with scalar type casted to \a NewScalarType
112    *
113    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
114    * then this function smartly returns a const reference to \c *this.
115    */
116  template<typename NewScalarType>
117  inline typename internal::cast_return_type<AlignedBox,
118           AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
119  {
120    return typename internal::cast_return_type<AlignedBox,
121                    AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
122  }
123
124  /** Copy constructor with scalar type conversion */
125  template<typename OtherScalarType>
126  inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
127  {
128    m_min = (other.min)().template cast<Scalar>();
129    m_max = (other.max)().template cast<Scalar>();
130  }
131
132  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
133    * determined by \a prec.
134    *
135    * \sa MatrixBase::isApprox() */
136  bool isApprox(const AlignedBox& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
137  { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
138
139protected:
140
141  VectorType m_min, m_max;
142};
143
144template<typename Scalar,int AmbiantDim>
145inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
146{
147  Scalar dist2(0);
148  Scalar aux;
149  for (int k=0; k<dim(); ++k)
150  {
151    if ((aux = (p[k]-m_min[k]))<Scalar(0))
152      dist2 += aux*aux;
153    else if ( (aux = (m_max[k]-p[k]))<Scalar(0))
154      dist2 += aux*aux;
155  }
156  return dist2;
157}
158
159} // end namespace Eigen
160