OBB.h

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#ifndef ULT_MATH_OBB_H_INCLUDED
#define ULT_MATH_OBB_H_INCLUDED
 
#include <Ult/Math/BoundingBox.h>
#include <Ult/Math/Vector3D.h>
#include <Ult/Math/Matrix4x4.h>
 
namespace Ult
{

class OBB
{
public:
    OBB();
    OBB(const OBB& obb);
    OBB(const BoundingBox& aabb);
    
    void Calculate(const Vector3D* vertices, const int numVerts);
    void Calculate(const BoundingBox& aabb);
    
    void Transform(const OBB& obb, const Matrix4x4& mat);
    void ObjectTransform(const OBB& obb, const Matrix4x4& mat);
    
    void ProjectionInterval(
        const Vector3D& axis,
        float& center,
        float& ext,
        float& min,
        float& max
    );
    unsigned int GetSupport(const Vector3D& axis, Vector3D* contacts);
    
    Vector3D GetFaceNormal(const int index) const {
        if (index == 0) { return mAxis1; }
        if (index == 1) { return mAxis2; }
        return mAxis3;
    }
    Vector3D GetEdgeDirection(const int index) const {
        return GetFaceNormal(index);
    }
    
    Vector3D GetCenterPos() const { return mCenter; }
    void SetCenter(const Vector3D& center) { mCenter = center; }
    
    float GetHalfAxis1() const { return mHalfAxis1; }
    float GetHalfAxis2() const { return mHalfAxis2; }
    float GetHalfAxis3() const { return mHalfAxis3; }
    float GetHalfAxis(const int index) const {
        if (index == 0) { return mHalfAxis1; }
        if (index == 1) { return mHalfAxis2; }
        return mHalfAxis3;
    }

    void SetHalfAxis1(const float val) { mHalfAxis1 = val; }
    void SetHalfAxis2(const float val) { mHalfAxis2 = val; }
    void SetHalfAxis3(const float val) { mHalfAxis3 = val; }
    
    Vector3D GetAxis1() const { return mAxis1; }
    Vector3D GetAxis2() const { return mAxis2; }
    Vector3D GetAxis3() const { return mAxis3; }
    Vector3D GetAxis(const int index) const {
        if (index == 0) { return mAxis1; }
        if (index == 1) { return mAxis2; }
        return mAxis3;
    }

    void SetAxis1(const Vector3D& axis) { mAxis1 = axis; }
    void SetAxis2(const Vector3D& axis) { mAxis2 = axis; }
    void SetAxis3(const Vector3D& axis) { mAxis3 = axis; }
    
    Vector3D mCenter;
    float mHalfAxis1, mHalfAxis2, mHalfAxis3;
    Vector3D mAxis1, mAxis2, mAxis3;
};
 
} // namespace Ult
 
#endif // ULT_MATH_OBB_H_INCLUDED