text: //
  //  AACube.h
  //  libraries/shared/src
  //
  //  Created by Brad Hefta-Gaub on 04/11/13.
  //  Copyright 2013 High Fidelity, Inc.
  //
  //  Originally from lighthouse3d. Modified to utilize glm::vec3 and clean up to our coding standards
  //  Simple axis aligned box class.
  //
  //  Distributed under the Apache License, Version 2.0.
  //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
  //
  
  #ifndef hifi_AACube_h
  #define hifi_AACube_h
  
  #include <glm/glm.hpp>
  
  #include <QDebug>
  
  #include "BoxBase.h"
  
  class AABox;
  class Extents;
  
  class AACube {
  
  public:
      AACube(const AABox& other);
      AACube(const Extents& other);
      AACube(const glm::vec3& corner, float size);
      AACube();
      ~AACube() {};
  
      void setBox(const glm::vec3& corner, float scale);
      glm::vec3 getFarthestVertex(const glm::vec3& normal) const; // return vertex most parallel to normal
      glm::vec3 getNearestVertex(const glm::vec3& normal) const; // return vertex most anti-parallel to normal
      void scale(float scale);
      const glm::vec3& getCorner() const { return _corner; }
      float getScale() const { return _scale; }
      glm::vec3 getDimensions() const { return glm::vec3(_scale,_scale,_scale); }
      float getLargestDimension() const { return _scale; }
  
      glm::vec3 calcCenter() const;
      glm::vec3 calcTopFarLeft() const;
      glm::vec3 getVertex(BoxVertex vertex) const;
  
      const glm::vec3& getMinimumPoint() const { return _corner; }
      glm::vec3 getMaximumPoint() const { return calcTopFarLeft(); }
  
      bool contains(const glm::vec3& point) const;
      bool contains(const AACube& otherCube) const;
      bool touches(const AACube& otherCube) const;
      bool contains(const AABox& otherBox) const;
      bool touches(const AABox& otherBox) const;
      bool expandedContains(const glm::vec3& point, float expansion) const;
      bool expandedIntersectsSegment(const glm::vec3& start, const glm::vec3& end, float expansion) const;
      bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, const glm::vec3& invDirection,
                               float& distance, BoxFace& face, glm::vec3& surfaceNormal) const;
      bool findParabolaIntersection(const glm::vec3& origin, const glm::vec3& velocity, const glm::vec3& acceleration,
                                    float& parabolicDistance, BoxFace& face, glm::vec3& surfaceNormal) const;
      bool touchesSphere(const glm::vec3& center, float radius) const;
      bool findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration) const;
      bool findCapsulePenetration(const glm::vec3& start, const glm::vec3& end, float radius, glm::vec3& penetration) const;
  
      AABox clamp(const glm::vec3& min, const glm::vec3& max) const;
      AABox clamp(float min, float max) const;
  
      AACube& operator += (const glm::vec3& point);
  
      bool containsNaN() const;
  
  private:
      glm::vec3 getClosestPointOnFace(const glm::vec3& point, BoxFace face) const;
      glm::vec3 getClosestPointOnFace(const glm::vec4& origin, const glm::vec4& direction, BoxFace face) const;
      glm::vec4 getPlane(BoxFace face) const;
  
      static BoxFace getOppositeFace(BoxFace face);
  
      glm::vec3 _corner;
      float _scale;
  };
  
  inline bool operator==(const AACube& a, const AACube& b) {
      return a.getCorner() == b.getCorner() && a.getScale() == b.getScale();
  }
  
  inline bool operator!=(const AACube& a, const AACube& b) {
      return a.getCorner() != b.getCorner() || a.getScale() != b.getScale();
  }
  
  inline QDebug operator<<(QDebug debug, const AACube& cube) {
      debug << "AACube[ ("
              << cube.getCorner().x << "," << cube.getCorner().y << "," << cube.getCorner().z << " ) to ("
              << cube.calcTopFarLeft().x << "," << cube.calcTopFarLeft().y << "," << cube.calcTopFarLeft().z << ") size: ("
              << cube.getDimensions().x << "," << cube.getDimensions().y << "," << cube.getDimensions().z << ")"
              << "]";
      return debug;
  }
  
  
  #endif // hifi_AACube_h
  