/usr/include/libwildmagic/Wm5IntrBox3Box3.h is in libwildmagic-dev 5.13-1+b2.
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// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.1 (2010/10/01)
#ifndef WM5INTRBOX3BOX3_H
#define WM5INTRBOX3BOX3_H
#include "Wm5MathematicsLIB.h"
#include "Wm5Intersector.h"
#include "Wm5Box3.h"
namespace Wm5
{
template <typename Real>
class WM5_MATHEMATICS_ITEM IntrBox3Box3
: public Intersector<Real,Vector3<Real> >
{
public:
IntrBox3Box3 (const Box3<Real>& box0, const Box3<Real>& box1);
// Object access.
const Box3<Real>& GetBox0 () const;
const Box3<Real>& GetBox1 () const;
// Static test-intersection query.
virtual bool Test ();
// Dynamic test-intersection query. The first time of contact (if any)
// is computed, but not any information about the contact set.
virtual bool Test (Real tmax, const Vector3<Real>& velocity0,
const Vector3<Real>& velocity1);
// Dynamic find-intersection query. The contact set is computed.
virtual bool Find (Real tmax, const Vector3<Real>& velocity0,
const Vector3<Real>& velocity1);
// The intersection set for dynamic find-intersection.
int GetQuantity () const;
const Vector3<Real>& GetPoint (int i) const;
// Dynamic test-intersection query where the boxes have constant linear
// velocities *and* constant angular velocities. The length of the
// rotation axes are the angular speeds. A differential equation solver
// is used to predict the intersection. The input numSteps is the
// number of iterations for the numerical ODE solver.
bool Test (Real tmax, int numSteps, const Vector3<Real>& velocity0,
const Vector3<Real>& rotCenter0, const Vector3<Real>& rotAxis0,
const Vector3<Real>& velocity1, const Vector3<Real>& rotCenter1,
const Vector3<Real>& rotAxis1);
private:
using Intersector<Real,Vector3<Real> >::mContactTime;
// Support for dynamic queries. The inputs are the projection intervals
// for the boxes onto a potential separating axis, the relative speed of
// the intervals, and the maximum time for the query. The outputs are
// the first time when separating fails and the last time when separation
// begins again along that axis. The outputs are *updates* in the sense
// that this function is called repeatedly for the potential separating
// axes. The output first time is updated only if it is larger than
// the input first time. The output last time is updated only if it is
// smaller than the input last time.
//
// NOTE: The BoxBoxAxisTest function could be used, but the box-box
// code optimizes the projections of the boxes onto the various axes.
// This function is effectively BoxBoxAxisTest but without the dot product
// of axis-direction and velocity to obtain speed. The optimizations are
// to compute the speed with fewer operations.
bool IsSeparated (Real min0, Real max0, Real min1, Real max1, Real speed,
Real tmax, Real& tlast);
// The objects to intersect.
const Box3<Real>* mBox0;
const Box3<Real>* mBox1;
// The intersection set for dynamic find-intersection. The worst case
// is a polygon with 8 vertices.
int mQuantity;
Vector3<Real> mPoint[8];
};
typedef IntrBox3Box3<float> IntrBox3Box3f;
typedef IntrBox3Box3<double> IntrBox3Box3d;
}
#endif
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