bs.h

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/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef SHEEP_MATH_BS_H
#define SHEEP_MATH_BS_H

#include "aabb3.h"
#include "point3.h"
#include "real.h"
#include "vector3.h"

#include <cmath>
#include <limits>

namespace sheep {

    class BS {
    public:
        Point3 m_center;    //!< Center of the bounding sphere.
        Real m_radius;      //!< Radius of the bounding sphere.

        //! The value of this member is not computed until the ComputeSquareRadius()
        //! method is explicitly called by the user. It is done that way to be both
        //! flexible and efficient: if the value is required, it can be computed by
        //! calling the ComputeSquareRadius() method. If the value is not required,
        //! this member will be left undefined until the ComputeSquareRadius() method
        //! is called.
        Real m_radius2;     //!< Square of the radius of the bounding sphere.

        //! Invalidates the bounding sphere.
        //! Warning: the bounding sphere center is left undefined.
        BS();

        //! Warning: this constructor *does not* copy the value of the m_radius2 member,
        //! which is thus left undefined until the ComputeSquareRadius() method is called.
        BS(const BS &bs);

        //! Constructs a bounding sphere given its center. The new bounding sphere is
        //! invalidated (see the Invalidate() method for more details). The value of
        //! the m_radius2 member is left undefined until the ComputeSquareRadius()
        //! method is called.
        BS(const Point3 &center);

        //! Constructs a bounding sphere given its center and its radius. The value of
        //! the m_radius2 member is left undefined until the ComputeSquareRadius()
        //! method is called.
        BS(const Point3 &center, Real radius);

        //! Invalidates the bounding sphere (sets the bounding sphere radius to -1.0).
        //! The value of the m_radius2 member is left unchanged.
        void Invalidate();

        //! Computes the square radius of the bounding sphere and stores it in the
        //! m_radius2 member. This is the only one method that does access the
        //! m_radius2 member.
        void ComputeSquareRadius();

        //! None of the next methods changes the value or use the value of the
        //! m_radius2 member.

        void Include(const Point3 &point);
        void Include(const AABB3 &aabb);
        void Include(const BS &bs);

        bool Overlaps(const BS &bs) const;
        bool Contains(const Point3 &point) const;
    };

#include "bs.inl"

}

#endif  // !SHEEP_MATH_BS_H

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