////  AABox.h//  libraries/octree/src////  Created by Brad Hefta-Gaub on 04/11/13.//  Copyright 2013 High Fidelity, Inc.////  Originally from lighthouse3d. Modified to utilize glm::vec3 and clean up to our coding standards//  Simple axis aligned box class.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #ifndef hifi_AABox_h#define hifi_AABox_h #include <glm/glm.hpp> #include <QDebug> #include "BoxBase.h"#include "GeometryUtil.h"#include "StreamUtils.h" class AACube;class Extents;class Transform; class AABox { public:    AABox(const AACube& other);    AABox(const Extents& other);    AABox(const glm::vec3& corner, float size);    AABox(const glm::vec3& corner, const glm::vec3& dimensions);    AABox();    ~AABox() {};     void setBox(const glm::vec3& corner, const glm::vec3& scale);     void setBox(const glm::vec3& corner, float scale);    glm::vec3 getFarthestVertex(const glm::vec3& normal) const; // return vertex most parallel to normal    glm::vec3 getNearestVertex(const glm::vec3& normal) const; // return vertex most anti-parallel to normal     const glm::vec3& getCorner() const { return _corner; }    const glm::vec3& getScale() const { return _scale; }    const glm::vec3& getDimensions() const { return _scale; }    float getLargestDimension() const { return glm::max(_scale.x, glm::max(_scale.y, _scale.z)); }     glm::vec3 calcCenter() const;    glm::vec3 calcTopFarLeft() const { return _corner + _scale; }     const glm::vec3& getMinimum() const { return _corner; }    glm::vec3 getMaximum() const { return _corner + _scale; }     glm::vec3 getVertex(BoxVertex vertex) const;     const glm::vec3& getMinimumPoint() const { return _corner; }    glm::vec3 getMaximumPoint() const { return calcTopFarLeft(); }     bool contains(const Triangle& triangle) const;    bool contains(const glm::vec3& point) const;    bool contains(const AABox& otherBox) const;    bool touches(const AABox& otherBox) const;     bool contains(const AACube& otherCube) const;    bool touches(const AACube& otherCube) const;     bool expandedContains(const glm::vec3& point, float expansion) const;    bool expandedIntersectsSegment(const glm::vec3& start, const glm::vec3& end, float expansion) const;    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, const glm::vec3& invDirection, float& distance,                             BoxFace& face, glm::vec3& surfaceNormal) const;    bool findParabolaIntersection(const glm::vec3& origin, const glm::vec3& velocity, const glm::vec3& acceleration,                                  float& parabolicDistance, BoxFace& face, glm::vec3& surfaceNormal) const;    bool rayHitsBoundingSphere(const glm::vec3& origin, const glm::vec3& direction) const;    bool parabolaPlaneIntersectsBoundingSphere(const glm::vec3& origin, const glm::vec3& velocity, const glm::vec3& acceleration, const glm::vec3& normal) const;    bool touchesSphere(const glm::vec3& center, float radius) const; // fast but may generate false positives    bool touchesAAEllipsoid(const glm::vec3& center, const glm::vec3& radials) const;    bool findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration) const;    bool findCapsulePenetration(const glm::vec3& start, const glm::vec3& end, float radius, glm::vec3& penetration) const;     bool isNull() const { return _scale == glm::vec3(0.0f, 0.0f, 0.0f); }     AABox clamp(const glm::vec3& min, const glm::vec3& max) const;    AABox clamp(float min, float max) const;     inline AABox& operator+=(const glm::vec3& point) {        bool valid = !isInvalid();        glm::vec3 maximum = glm::max(_corner + _scale, point);        _corner = glm::min(_corner, point);        if (valid) {            _scale = maximum - _corner;        }        return (*this);    }     inline AABox& operator+=(const AABox& box) {        if (!box.isInvalid()) {            (*this) += box._corner;            (*this) += box.calcTopFarLeft();        }        return (*this);    }     // Translate the AABox just moving the corner    void translate(const glm::vec3& translation) { _corner += translation; }     // Rotate the AABox around its frame origin    // meaning rotating the corners of the AABox around the point {0,0,0} and reevaluating the min max    void rotate(const glm::quat& rotation);     /// Scale the AABox    void scale(float scale);    void scale(const glm::vec3& scale);     /// make the AABox bigger (scale about it's center)    void embiggen(float scale);    void embiggen(const glm::vec3& scale);     // Set a new scale for the Box, but keep it centered at its current location    void setScaleStayCentered(const glm::vec3& scale);     // Transform the extents with transform    void transform(const Transform& transform);     // Transform the extents with matrix    void transform(const glm::mat4& matrix);     static const glm::vec3 INFINITY_VECTOR;     bool isInvalid() const { return _corner.x == std::numeric_limits<float>::infinity(); }     void clear() { _corner = INFINITY_VECTOR; _scale = glm::vec3(0.0f); }     typedef enum {        topLeftNear,        topLeftFar,        topRightNear,        topRightFar,        bottomLeftNear,        bottomLeftFar,        bottomRightNear,        bottomRightFar    } OctreeChild;     AABox getOctreeChild(OctreeChild child) const; // returns the AABox of the would be octree child of this AABox     glm::vec4 getPlane(BoxFace face) const; private:    glm::vec3 getClosestPointOnFace(const glm::vec3& point, BoxFace face) const;    glm::vec3 getClosestPointOnFace(const glm::vec4& origin, const glm::vec4& direction, BoxFace face) const;     static BoxFace getOppositeFace(BoxFace face);     void checkPossibleParabolicIntersection(float t, int i, float& minDistance,        const glm::vec3& origin, const glm::vec3& velocity, const glm::vec3& acceleration, bool& hit) const;     glm::vec3 _corner;    glm::vec3 _scale;}; inline bool operator==(const AABox& a, const AABox& b) {    return a.getCorner() == b.getCorner() && a.getDimensions() == b.getDimensions();} inline QDebug operator<<(QDebug debug, const AABox& box) {    debug << "AABox[ ("            << box.getCorner().x << "," << box.getCorner().y << "," << box.getCorner().z << " ) to ("            << box.calcTopFarLeft().x << "," << box.calcTopFarLeft().y << "," << box.calcTopFarLeft().z << ") size: ("            << box.getDimensions().x << "," << box.getDimensions().y << "," << box.getDimensions().z << ")"            << "]";     return debug;} #endif // hifi_AABox_h