source: orxonox.OLD/orxonox/trunk/src/lib/collision_detection/obb.h @ 4576

/*!
    \file obb.h
    \brief Definition of an OBB (object Oriented Bounding Box)

*/

#ifndef _OBB_H
#define _OBB_H

#include "base_object.h"
#include "bounding_volume.h"

template<class T> class tList;

//! A class representing an extended bounding volume tree: an obb tree
class OBB : public BoundingVolume {

 public:
  OBB();
  virtual ~OBB();


  inline Vector** getAxis () const { return this->axis; }
  inline const float* getHalfLength() const { return this->halfLength; }

  virtual sVect3D* getVertices() const { return this->vertices; }
  virtual void mergeWith(const BoundingVolume &bv);

  virtual void drawBV(int currentDepth, const int depth) const;
  virtual void drawBVPolygon(int currentDepth, const int depth) const;
  virtual void drawBVBlended(int currentDepth, const int depth) const;


 public:
  Vector**         axis;                       //!< Axes of oriented box [x,y,z]
  float*           halfLength;                 //!< Half lengths of the box along the axis
  float            covarianceMatrix[3][3];     //!< the covariance matrix

};

#endif /* _OBB_H */