~yade-dev/yade/0.80

/*************************************************************************

*  Copyright (C) 2004 by Olivier Galizzi                                 *

*  olivier.galizzi@imag.fr                                               *

*                                                                        *

*  This program is free software; it is licensed under the terms of the  *

*  GNU General Public License v2 or later. See file LICENSE for details. *

*************************************************************************/

 

#include "Bo1_Box_Aabb.hpp"

#include<yade/pkg/common/Box.hpp>

#include<yade/pkg/common/Aabb.hpp>

 

 

void Bo1_Box_Aabb::go(  const shared_ptr<Shape>& cm,

                                shared_ptr<Bound>& bv,

                                const Se3r& se3,

                                const Body*     b)

{

        Box* box = static_cast<Box*>(cm.get());

        if(!bv){ bv=shared_ptr<Bound>(new Aabb); }

        Aabb* aabb=static_cast<Aabb*>(bv.get());

 

        if(scene->isPeriodic && scene->cell->hasShear()) throw logic_error(__FILE__ "Boxes not (yet?) supported in sheared cell.");

        

        Matrix3r r=se3.orientation.toRotationMatrix();

        Vector3r halfSize(Vector3r::Zero());

        for( int i=0; i<3; ++i )

                for( int j=0; j<3; ++j )

                        halfSize[i] += fabs( r(i,j) * box->extents[j] );

        

        aabb->min = se3.position-halfSize;

        aabb->max = se3.position+halfSize;

}

        

YADE_PLUGIN((Bo1_Box_Aabb));