created project file

2025-10-24 22:59:30 -07:00
parent b0cd420aa3
commit 437257691c
71 changed files with 250 additions and 1 deletions
--- a/geometries/rectangularPrismConstraint.m
+++ b/geometries/rectangularPrismConstraint.m
@@ -0,0 +1,106 @@
+classdef rectangularPrismConstraint
+    % Rectangular prism constraint geometry
+    properties (SetAccess = private, GetAccess = public)
+        tag = REGION_TYPE.INVALID;
+        label = "";
+
+        minCorner = NaN(3, 1);
+        maxCorner = NaN(3, 1);
+
+        dimensions = NaN(3, 1);
+
+        center = NaN;
+
+        vertices = NaN(8, 3);
+
+        footprint = NaN(2, 4);
+    end
+
+    methods (Access = public)
+        function obj = initialize(obj, bounds, tag, label)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
+                bounds (3, 2) double;
+                tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
+                label (1, 1) string = "";
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
+            end
+
+            obj.tag = tag;
+            obj.label = label;
+
+            %% Define geometry bounds by LL corner and UR corner
+            obj.minCorner = bounds(:, 1);
+            obj.maxCorner = bounds(:, 2);
+
+            % Compute L, W, H
+            obj.dimensions = [obj.maxCorner(1) - obj.minCorner(1), obj.maxCorner(2) - obj.minCorner(2), obj.maxCorner(3) - obj.minCorner(3)];
+
+            % Compute center
+            obj.center = obj.minCorner + obj.dimensions ./ 2;
+
+            % Compute vertices
+            obj.vertices = [obj.minCorner';
+                            obj.maxCorner(1), obj.minCorner(2:3)';
+                            obj.maxCorner(1:2)', obj.minCorner(3);
+                            obj.minCorner(1), obj.maxCorner(2), obj.minCorner(3);
+                            obj.minCorner(1:2)', obj.maxCorner(3);
+                            obj.maxCorner(1), obj.minCorner(2), obj.maxCorner(3);
+                            obj.minCorner(1), obj.maxCorner(2:3)'
+                            obj.maxCorner';];
+
+            % Compute footprint
+            obj.footprint = [obj.minCorner(1:2, 1), ...
+                             [obj.minCorner(1, 1); obj.maxCorner(2, 1)], ...
+                             [obj.maxCorner(1, 1); obj.minCorner(2, 1)], ...
+                             obj.maxCorner(1:2, 1)];
+        end
+        function r = random(obj)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
+            end
+            arguments (Output)
+                r (1, 3) double
+            end
+            r = (obj.vertices(1, 1:3) + rand(1, 3) .* obj.vertices(8, 1:3) - obj.vertices(1, 1:3))';
+        end
+        function c = contains(obj, pos)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
+                pos (:, 3) double;
+            end
+            arguments (Output)
+                c (1, 1) logical
+            end
+            c = all(pos >= repmat(obj.minCorner', size(pos, 1), 1), 2) & all(pos <= repmat(obj.maxCorner', size(pos, 1), 1), 2);
+        end
+        function f = plotWireframe(obj, f)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'rectangularPrismConstraint')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+            end
+            arguments (Output)
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
+
+            % Create axes if they don't already exist
+            f = firstPlotSetup(f);
+
+            edges = [1 2; 2 3; 3 4; 4 1;  % bottom square
+                5 6; 6 8; 8 7; 7 5;  % top square
+                1 5; 2 6; 3 8; 4 7]; % vertical edges
+
+            % Create plotting inputs from vertices and edges
+            X = [obj.vertices(edges(:,1),1), obj.vertices(edges(:,2),1)]';
+            Y = [obj.vertices(edges(:,1),2), obj.vertices(edges(:,2),2)]';
+            Z = [obj.vertices(edges(:,1),3), obj.vertices(edges(:,2),3)]';
+
+            % Plot the boundaries of the constraint geometry
+            hold(f.CurrentAxes, "on");
+            plot3(X, Y, Z, '-', 'Color', obj.tag.color, 'LineWidth', 2);
+            hold(f.CurrentAxes, "off");
+        end
+    end
+end