CollisionBox.h

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#ifndef COLLISION_BOX_H
#define COLLISION_BOX_H

#include <vector>
#include "Collision/Collision.h"
#include "Utilities/utilities.h"
#include "cppTypes.h"

template <typename T>
class CollisionBox : public Collision<T> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  CollisionBox(const T& mu, const T& restitution, const T& depth,
               const T& width, const T& height, const Vec3<T>& position,
               const Mat3<T>& ori)
      : Collision<T>(mu, restitution), _position(position), _orientation(ori) {
    _size[0] = depth;
    _size[1] = width;
    _size[2] = height;
  }

  virtual ~CollisionBox() {}
  virtual bool ContactDetection(const Vec3<T>& cp_pos, T& penetration,
                                Mat3<T>& cp_frame);

 private:
  T _size[3];

  Vec3<T> _position;
  Mat3<T> _orientation;
};

#endif  // COLLISION_BOX_H