An axis aligned bounding box of a given. More...

#include <detray/utils/bounding_volume.hpp>

Inheritance diagram for detray::axis_aligned_bounding_volume< shape_t, algebra_t >:

Public Member Functions
constexpr	axis_aligned_bounding_volume ()=default
	Default constructor builds an infinite box.
template<typename mask_t, typename S = shape_t> requires std::is_same_v<S, cuboid3D>
constexpr	axis_aligned_bounding_volume (const mask_t &mask, std::size_t box_id, const scalar_t envelope)
	Construct around an arbitrary surface `mask`.
template<typename other_shape_t> requires std::is_same_v< typename shape::template local_frame_type<algebra_t>, typename other_shape_t::template local_frame_type<algebra_t>>
constexpr	axis_aligned_bounding_volume (const std::vector< axis_aligned_bounding_volume< other_shape_t, algebra_t > > &aabbs, std::size_t box_id, const scalar_t env)
	Construct a bounding box around a set of boxes.
	axis_aligned_bounding_volume (const std::vector< scalar_t > &values, std::size_t box_id)
	Construct from mask boundary vector.
template<typename... Args>
constexpr	axis_aligned_bounding_volume (std::size_t box_id, Args &&... args)
	Constructor from mask boundary values.
constexpr auto	bounds () const -> const mask< shape, algebra_t, std::size_t > &
	Return the shape mask storing this volume's bounds.
template<concepts::point3D point3_t>
constexpr auto	center () const -> point3_t
template<concepts::transform3D transform3_t>
constexpr auto	glob_max (const transform3_t &trf) const -> typename transform3_t::point3
	Transform the local maximum bounds into global Cartesian coordinates.
template<concepts::transform3D transform3_t>
constexpr auto	glob_min (const transform3_t &trf) const -> typename transform3_t::point3
	Transform the local minimum bounds into global Cartesian coordinates.
constexpr auto	id () const -> std::size_t
	Return the volume identifier.
constexpr bool	intersect (const detail::ray< algebra_t > &ray, const scalar_t t=std::numeric_limits< scalar_t >::epsilon()) const
	Intersect the box with a ray.
template<concepts::point point_t>
constexpr bool	is_inside (const point_t &loc_p, const scalar_t t=std::numeric_limits< scalar_t >::epsilon()) const
	Checks whether a point lies inside the box.
template<typename point_t>
constexpr auto	loc_max () const -> point_t
template<typename point_t>
constexpr auto	loc_min () const -> point_t
constexpr auto	operator[] (const std::size_t i) const -> scalar_t
	Access one boundary value by its shape-specific index.
template<concepts::transform3D transform3_t, typename S = shape_t> requires std::is_same_v<S, cuboid3D>
auto	transform (const transform3_t &trf) const -> axis_aligned_bounding_volume
	Lower and upper point for minimum axis aligned bounding box of cuboid shape.
using	scalar_t = dscalar<algebra_t>
	Define geometric propertiesScalar type used by the volume's mask.
using	shape = shape_t
	Shape whose bounds are represented by this volume.
using	boundaries = typename shape_t::boundaries
	Boundary enumeration for the represented shape.
template<typename A>
using	local_frame = typename shape_t::template local_frame_type<A>
	Local frame type associated with the shape and algebra backend.
static constexpr std::size_t	dim {shape_t::dim}
	Number of dimensions in the represented shape.

Detailed Description

template<typename shape_t, concepts::algebra algebra_t>
class detray::axis_aligned_bounding_volume< shape_t, algebra_t >

An axis aligned bounding box of a given.

Template Parameters

shape_t

Constructor & Destructor Documentation

◆ axis_aligned_bounding_volume() [1/4]

template<typename shape_t, concepts::algebra algebra_t>

template<typename... Args>

detray::axis_aligned_bounding_volume< shape_t, algebra_t >::axis_aligned_bounding_volume	(	std::size_t	box_id,
		Args &&...	args )

explicitconstexpr

Constructor from mask boundary values.

Parameters

box_id	Identifier associated with the volume.
args	Shape boundary values forwarded to the mask constructor.

◆ axis_aligned_bounding_volume() [2/4]

template<typename shape_t, concepts::algebra algebra_t>

template<typename mask_t, typename S = shape_t>
requires std::is_same_v<S, cuboid3D>

detray::axis_aligned_bounding_volume< shape_t, algebra_t >::axis_aligned_bounding_volume	(	const mask_t &	mask,
		std::size_t	box_id,
		const scalar_t	envelope )

constexpr

Construct around an arbitrary surface mask.

Parameters

mask	Surface mask whose local bounds define this volume.
box_id	Identifier associated with the volume.
envelope	Expansion applied to the surface bounds.

◆ axis_aligned_bounding_volume() [3/4]

template<typename shape_t, concepts::algebra algebra_t>

detray::axis_aligned_bounding_volume< shape_t, algebra_t >::axis_aligned_bounding_volume	(	const std::vector< scalar_t > &	values,
		std::size_t	box_id )

Construct from mask boundary vector.

Parameters

values	Boundary values expected by the shape mask.
box_id	Identifier associated with the volume.

◆ axis_aligned_bounding_volume() [4/4]

template<typename shape_t, concepts::algebra algebra_t>

template<typename other_shape_t>
requires std::is_same_v< typename shape::template local_frame_type<algebra_t>, typename other_shape_t::template local_frame_type<algebra_t>>

detray::axis_aligned_bounding_volume< shape_t, algebra_t >::axis_aligned_bounding_volume	(	const std::vector< axis_aligned_bounding_volume< other_shape_t, algebra_t > > &	aabbs,
		std::size_t	box_id,
		const scalar_t	env )

constexpr

Construct a bounding box around a set of boxes.

Note: The input volumes must use the same local coordinate system.

Parameters

aabbs	Volumes to enclose.
box_id	Identifier associated with the enclosing volume.
env	Margin added to the enclosing bounds.

Member Function Documentation

◆ bounds()

template<typename shape_t, concepts::algebra algebra_t>

auto detray::axis_aligned_bounding_volume< shape_t, algebra_t >::bounds ( ) const->constmask< shape, algebra_t, std::size_t > &

constexpr

Return the shape mask storing this volume's bounds.

Returns: the bounds of the box, depending on its shape

◆ center()

template<typename shape_t, concepts::algebra algebra_t>

template<concepts::point3D point3_t>

auto detray::axis_aligned_bounding_volume< shape_t, algebra_t >::center ( ) const->point3_t

constexpr

Returns: the geometric center position in global cartesian system

◆ glob_max()

template<typename shape_t, concepts::algebra algebra_t>

template<concepts::transform3D transform3_t>

auto detray::axis_aligned_bounding_volume< shape_t, algebra_t >::glob_max ( const transform3_t & trf ) const->typenametransform3_t::point3

constexpr

Transform the local maximum bounds into global Cartesian coordinates.

Parameters

trf	Transform from the volume's local frame to global coordinates.

Returns: the maximum bounds of the volume in global cartesian coordinates

◆ glob_min()

template<typename shape_t, concepts::algebra algebra_t>

template<concepts::transform3D transform3_t>

auto detray::axis_aligned_bounding_volume< shape_t, algebra_t >::glob_min ( const transform3_t & trf ) const->typenametransform3_t::point3

constexpr

Transform the local minimum bounds into global Cartesian coordinates.

Parameters

trf	Transform from the volume's local frame to global coordinates.

Returns: the minimum bounds of the volume in global cartesian coordinates

◆ id()

template<typename shape_t, concepts::algebra algebra_t>

auto detray::axis_aligned_bounding_volume< shape_t, algebra_t >::id ( ) const->std::size_t

constexpr

Return the volume identifier.

Returns: the bounds of the box, depending on its shape

◆ intersect()

template<typename shape_t, concepts::algebra algebra_t>

bool detray::axis_aligned_bounding_volume< shape_t, algebra_t >::intersect	(	const detail::ray< algebra_t > &	ray,
		const scalar_t	t = std::numeric_limits<scalar_t>::epsilon() ) const

constexpr

Intersect the box with a ray.

Parameters

ray	Ray expressed in the volume's coordinate frame.
t	Tolerance used by the intersection test.

Returns: Whether the ray intersects the box.

◆ is_inside()

template<typename shape_t, concepts::algebra algebra_t>

template<concepts::point point_t>

bool detray::axis_aligned_bounding_volume< shape_t, algebra_t >::is_inside	(	const point_t &	loc_p,
		const scalar_t	t = std::numeric_limits<scalar_t>::epsilon() ) const

constexpr

Checks whether a point lies inside the box.

The point has to be defined in the coordinate frame that is spanned by the box axes.

Parameters

loc_p	Point in the volume's local coordinate frame.
t	Tolerance used by the mask containment check.

Returns: Whether the point lies inside the volume.

◆ loc_max()

template<typename shape_t, concepts::algebra algebra_t>

template<typename point_t>

auto detray::axis_aligned_bounding_volume< shape_t, algebra_t >::loc_max ( ) const->point_t

constexpr

Returns: the maximum bounds of the volume in local coordinates

◆ loc_min()

template<typename shape_t, concepts::algebra algebra_t>

template<typename point_t>

auto detray::axis_aligned_bounding_volume< shape_t, algebra_t >::loc_min ( ) const->point_t

constexpr

Returns: the minimum bounds of the volume in local coordinates

◆ operator[]()

template<typename shape_t, concepts::algebra algebra_t>

auto detray::axis_aligned_bounding_volume< shape_t, algebra_t >::operator[] ( const std::size_t i ) const->scalar_t

constexpr

Access one boundary value by its shape-specific index.

Parameters

i	Index of the requested boundary.

Returns: The boundary value.

◆ transform()

template<typename shape_t, concepts::algebra algebra_t>

template<concepts::transform3D transform3_t, typename S = shape_t>
requires std::is_same_v<S, cuboid3D>

auto detray::axis_aligned_bounding_volume< shape_t, algebra_t >::transform ( const transform3_t & trf ) const->axis_aligned_bounding_volume

Lower and upper point for minimum axis aligned bounding box of cuboid shape.

Computes the min and max vertices in global coordinates from the local minimum aabb. The global aabb is not necessarily an minimum aabb.

Parameters

trf	affine transformation

Returns: a new, transformed aabb.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ axis_aligned_bounding_volume() [1/4]

◆ axis_aligned_bounding_volume() [2/4]

◆ axis_aligned_bounding_volume() [3/4]

◆ axis_aligned_bounding_volume() [4/4]

Member Function Documentation

◆ bounds()

◆ center()

◆ glob_max()

◆ glob_min()

◆ id()

◆ intersect()

◆ is_inside()

◆ loc_max()

◆ loc_min()

◆ operator[]()

◆ transform()