Polyhedron3D.h

#ifndef MATH3D_POLYHEDRON3D_H
#define MATH3D_POLYHEDRON3D_H

#include "Point.h"
#include "Plane3D.h"

namespace Math3D {

struct Line3D;
struct Segment3D;
struct AABB3D;

struct ConvexPolyhedron3D
{
        ConvexPolyhedron3D();
        ~ConvexPolyhedron3D();
        void initialize(int numPlanes, int numVertices);
        void resize(int numPlanes, int numVertices);
        void cleanup();
        void makeFromTriangles(const Point3D* p, int numVertices, int* triangles, int numFaces);        //faces is of size numFaces*3
        void setTransformed(const ConvexPolyhedron3D& in, const Matrix4& T);
        void operator = (const ConvexPolyhedron3D&);
  void getAABB(AABB3D&) const;

        bool intersects(const ConvexPolyhedron3D& other) const;         //returns true if the polyhedra intersect
        void planeExtents(const Plane3D& p,Real& dmin,Real& dmax) const;
        bool planeSplits(const Plane3D& p) const;                               //returns true if the plane intersects this polyhedron
        bool planePos(const Plane3D& p) const;                          //returns true if this poly is entirely on the positive side of the plane
        bool planeNeg(const Plane3D& p) const;                          //returns true if this poly is entirely on the negative side of the plane
        bool contains(const Point3D& v) const;                          //returns true if the point is contained
        bool withinDistance(const Point3D& v, Real dist) const; //returns true if the point is within the given distance
        Real planeDistance(const Point3D& v) const;     //return the closest planar distance to this polyhedron
        bool intersects(const Line3D& l, Real& tmin, Real& tmax) const;
        bool intersects(const Line3D& l) const;
        bool intersects(const Segment3D& l) const;

        bool Read(File& f);
        bool Write(File& f) const;

  Plane3D* planes;
  Point3D* vertices;
  int numPlanes;
  int numVertices;
};

} //namespace Math3d

#endif