/*

* This file is part of the GreasePad distribution (https://github.com/FraunhoferIOSB/GreasePad).

* Copyright (c) 2022-2026 Jochen Meidow, Fraunhofer IOSB

*

* This program 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 3 of the License, or

* (at your option) any later version.

*

* This program 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 this program. If not, see <https://www.gnu.org/licenses/>.

*/

#ifndef AABB_H

#define AABB_H

#include <cassert>

#include <Eigen/Core>

namespace Geometry {

using Eigen::Vector;

//! Axis-aligned bounding box

template <typename T, int N>

class Aabb

{

public:

//! Value constructor

explicit Aabb( const Vector<T,N> & min, const Vector<T,N> & max)

: m_min(min), m_max(max)

{

assert( ( m_min.array() <= m_max.array() ).all() );

}

Aabb()

{

m_min.setZero();

m_max.setZero();

};

//! Get i-th minimum value

[[nodiscard]] T min( const int idx) const {

assert( idx>=0 && idx<N );

return m_min(idx);

}

//! Get i-th maximum value

[[nodiscard]] T max( const int idx) const {

assert( idx>=0 && idx<N );

return m_max(idx);

}

//! Check if the other box overlaps

[[nodiscard]] bool overlaps( const Aabb & other) const

{

return ( m_max.cwiseMin(other.m_max).array()

> m_min.cwiseMax(other.m_min).array() ).all();

}

//! Get united/merged box of this and the other box

[[nodiscard]] Aabb united( const Aabb & other) const

{

return Aabb {

m_min.cwiseMin(other.m_min),

m_max.cwiseMax(other.m_max)

};

}

//! Get dimension of bounding box

[[nodiscard]] int dim() const {return N;}

private:

Vector<T,N> m_min;

Vector<T,N> m_max;

};

} // namespace Geometry

#endif // AABB_H