ShapeOBB.h

#pragma once
#include "ShapeAABB.h"

namespace ParaEngine
{
    class Plane;
    class CShapeAABB;

    class CShapeOBB
    {
    public:
        CShapeOBB(void);
        CShapeOBB(const CShapeAABB& aabb, const Matrix4& mat);
        ~CShapeOBB(void);
        
        void SetEmpty();

        bool ContainsPoint(const Vector3& p)    const;

        void Create(const CShapeAABB& aabb, const Matrix4& mat);

        void Rotate(const Matrix4& mtx, CShapeOBB& obb) const;

        BOOL IsValid()  const;

        bool ComputePlanes(Plane* planes)   const;

        bool ComputePoints(Vector3* pts)    const;

        bool ComputeVertexNormals(Vector3* pts) const;

        const DWORD*        GetEdges()  const;

        const Vector3*      GetLocalEdgeNormals()   const;

        void ComputeWorldEdgeNormal(DWORD edge_index, Vector3& world_normal)    const;

        BOOL IsInside(const CShapeOBB& box) const;

        const Vector3&      GetCenter()     const   { return mCenter;   }
        const Vector3&      GetExtents()    const   { return mExtents;  }
        const Matrix4&  GetRot()        const   { return mRot; }

        void GetRotatedExtents(Matrix4& extents)    const;

        Vector3 mCenter;        
        Vector3 mExtents;       
        Matrix4 mRot;           

        // Orientation is stored in row-major format,
        // i.e. rows = eigen vectors of the covariance matrix
    };

}