Aabb.h

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#ifndef PBAT_GPU_GEOMETRY_AABB_H
#define PBAT_GPU_GEOMETRY_AABB_H
 
#include "PhysicsBasedAnimationToolkitExport.h"
#include "pbat/gpu/Aliases.h"
 
namespace pbat {
namespace gpu {
namespace geometry {

class Aabb
{
  public:
    PBAT_API Aabb(GpuIndex dims = 3, GpuIndex nBoxes = 0);
 
    Aabb(Aabb const&)            = delete;
    Aabb& operator=(Aabb const&) = delete;
    PBAT_API Aabb(Aabb&& other) noexcept;
    PBAT_API Aabb& operator=(Aabb&& other) noexcept;
    PBAT_API void
    Construct(Eigen::Ref<GpuMatrixX const> const& L, Eigen::Ref<GpuMatrixX const> const& U);
    PBAT_API void
    Construct(Eigen::Ref<GpuMatrixX const> const& P, Eigen::Ref<GpuIndexMatrixX const> const& S);
    PBAT_API void Resize(GpuIndex dims, GpuIndex nBoxes);
    PBAT_API GpuIndex Size() const;
    [[maybe_unused]] GpuIndex Dimensions() const { return mDims; }
    [[maybe_unused]] void* Impl() { return mImpl; }
    [[maybe_unused]] void* Impl() const { return mImpl; }
    PBAT_API GpuMatrixX Lower() const;
    PBAT_API GpuMatrixX Upper() const;
    PBAT_API ~Aabb();
 
  private:
    void Deallocate();
 
    GpuIndex mDims;
    void* mImpl;
};
 
} // namespace geometry
} // namespace gpu
} // namespace pbat
 
#endif // PBAT_GPU_GEOMETRY_AABB_H