/******************************************************************************\

CAMotics is an Open-Source simulation and CAM software.

Copyright (C) 2011-2019 Joseph Coffland <joseph@cauldrondevelopment.com>

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 2 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program. If not, see <http://www.gnu.org/licenses/>.

\******************************************************************************/

#include "Sweep.h"

#include <gcode/Move.h>

using namespace std;

using namespace cb;

using namespace CAMotics;

void Sweep::getBBoxes(const Vector3D &start, const Vector3D &end,

vector<Rectangle3D> &bboxes, double radius,

double length, double zOffset, double tolerance) const {

const unsigned maxLen = radius * 16;

double len = start.distance(end);

unsigned steps = (len <= maxLen) ? 1 : (len / maxLen);

double stride = 1.0 / steps;

Vector3D p1 = start;

Vector3D p2;

for (unsigned i = 0; i < steps; i++) {

for (unsigned j = 0; j < 3; j++)

p2[j] = start[j] + (end[j] - start[j]) * stride * (i + 1);

double minX = std::min(p1.x(), p2.x()) - radius - tolerance;

double minY = std::min(p1.y(), p2.y()) - radius - tolerance;

double minZ = std::min(p1.z(), p2.z()) + zOffset - tolerance;

double maxX = std::max(p1.x(), p2.x()) + radius + tolerance;

double maxY = std::max(p1.y(), p2.y()) + radius + tolerance;

double maxZ = std::max(p1.z(), p2.z()) + length + tolerance;

bboxes.push_back

(Rectangle3D(Vector3D(minX, minY, minZ),

Vector3D(maxX, maxY, maxZ)));

p1 = p2;

}

}