Biomechanical Joint Model  Author: Anderson Maciel

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obb.H

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/*************************************************************************\

  Copyright 1995 The University of North Carolina at Chapel Hill.
  All Rights Reserved.

  Permission to use, copy, modify and distribute this software and its
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  DAMAGES.


  Permission to use, copy, modify and distribute this software and its
  documentation for educational, research and non-profit purposes, without
  fee, and without a written agreement is hereby granted, provided that the
  above copyright notice and the following three paragraphs appear in all
  copies.

  THE UNIVERSITY OF NORTH CAROLINA SPECIFICALLY DISCLAIM ANY
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  US Mail:             S. Gottschalk
                       Department of Computer Science
                       Sitterson Hall, CB #3175
                       University of N. Carolina
                       Chapel Hill, NC 27599-3175

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\**************************************************************************/

#ifndef OBB_H
#define OBB_H

struct tri
{
  int id;
  double p1[3], p2[3], p3[3];
};


class box
{
public:

  // placement in parent's space
  // box to parent space: x_m = pR*x_b + pT
  // parent to box space: x_b = pR.T()*(x_m - pT)
  double pR[3][3];
  double pT[3];
  
  // dimensions
  double d[3];        // this is "radius", that is, 
                      // half the measure of a side length

  box *P;  // points to but does not "own".  
  box *N;

  tri *trp;

  int leaf() { return (!P && !N); } 
  double size() { return d[0]; } 

  int split_recurse(int *t, int n);
  int split_recurse(int *t);               // specialized for leaf nodes
};

const int RAPID_BUILD_STATE_CONST = 0;     // "empty" state, after constructor
const int RAPID_BUILD_STATE_BEGIN = 1;     // after BeginModel()
const int RAPID_BUILD_STATE_ADDTRI = 2;    // after AddTri()
const int RAPID_BUILD_STATE_PROCESSED = 3; // after EndModel()

#endif

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