[2747] | 1 | #include <cassert>
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| 2 | #include <iostream>
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| 3 | #include "AxisAlignedBox3.h"
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[2755] | 4 | #include "Plane3.h"
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[2747] | 5 |
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| 6 |
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| 7 | using namespace std;
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| 8 |
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[2755] | 9 |
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[2776] | 10 | namespace CHCDemoEngine
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[2751] | 11 | {
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[2747] | 12 |
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| 13 | // Overload << operator for C++-style output
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| 14 | ostream& operator<< (ostream &s, const AxisAlignedBox3 &A)
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| 15 | {
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| 16 | return s << '[' << A.mMin.x << ", " << A.mMin.y << ", " << A.mMin.z << "]["
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| 17 | << A.mMax.x << ", " << A.mMax.y << ", " << A.mMax.z << ']';
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| 18 | }
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| 19 |
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| 20 |
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| 21 | // Overload >> operator for C++-style input
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| 22 | istream& operator>> (istream &s, AxisAlignedBox3 &A)
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| 23 | {
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| 24 | char a;
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| 25 | // read "[min.x, min.y, min.z][mMax.x, mMax.y, mMax.z]"
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| 26 | return s >> a >> A.mMin.x >> a >> A.mMin.y >> a >> A.mMin.z >> a >> a
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| 27 | >> A.mMax.x >> a >> A.mMax.y >> a >> A.mMax.z >> a;
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| 28 | }
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| 29 |
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| 30 |
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[2751] | 31 | AxisAlignedBox3::AxisAlignedBox3()
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| 32 | { }
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| 33 |
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| 34 |
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| 35 | AxisAlignedBox3::AxisAlignedBox3(const Vector3 &nMin, const Vector3 &nMax)
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| 36 | : mMin(nMin), mMax(nMax)
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| 37 | {}
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| 38 |
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| 39 |
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| 40 |
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[2747] | 41 | bool AxisAlignedBox3::Unbounded() const
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| 42 | {
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| 43 | return (mMin == Vector3(-MAXFLOAT)) ||
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| 44 | (mMax == Vector3(-MAXFLOAT));
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| 45 | }
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| 46 |
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| 47 |
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| 48 | void AxisAlignedBox3::Include(const Vector3 &newpt)
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| 49 | {
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| 50 | Minimize(mMin, newpt);
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| 51 | Maximize(mMax, newpt);
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| 52 | }
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| 53 |
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| 54 |
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| 55 | void AxisAlignedBox3::Include(const AxisAlignedBox3 &bbox)
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| 56 | {
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| 57 | Minimize(mMin, bbox.mMin);
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| 58 | Maximize(mMax, bbox.mMax);
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| 59 | }
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| 60 |
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| 61 |
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| 62 | bool AxisAlignedBox3::IsCorrect()
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| 63 | {
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| 64 | if ( (mMin.x > mMax.x) ||
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| 65 | (mMin.y > mMax.y) ||
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| 66 | (mMin.z > mMax.z) )
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| 67 | return false; // box is not formed
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| 68 | return true;
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| 69 | }
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| 70 |
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| 71 |
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| 72 | void AxisAlignedBox3::GetEdge(const int edge, Vector3 *a, Vector3 *b) const
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| 73 | {
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| 74 | switch(edge) {
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| 75 | case 0:
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| 76 | a->SetValue(mMin.x, mMin.y, mMin.z);
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| 77 | b->SetValue(mMin.x, mMin.y, mMax.z);
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| 78 | break;
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| 79 | case 1:
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| 80 | a->SetValue(mMin.x, mMin.y, mMin.z);
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| 81 | b->SetValue(mMin.x, mMax.y, mMin.z);
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| 82 | break;
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| 83 | case 2:
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| 84 | a->SetValue(mMin.x, mMin.y, mMin.z);
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| 85 | b->SetValue(mMax.x, mMin.y, mMin.z);
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| 86 | break;
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| 87 | case 3:
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| 88 | a->SetValue(mMax.x, mMax.y, mMax.z);
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| 89 | b->SetValue(mMax.x, mMax.y, mMin.z);
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| 90 | break;
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| 91 | case 4:
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| 92 | a->SetValue(mMax.x, mMax.y, mMax.z);
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| 93 | b->SetValue(mMax.x, mMin.y, mMax.z);
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| 94 | break;
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| 95 | case 5:
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| 96 | a->SetValue(mMax.x, mMax.y, mMax.z);
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| 97 | b->SetValue(mMin.x, mMax.y, mMax.z);
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| 98 | break;
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| 99 |
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| 100 | case 6:
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| 101 | a->SetValue(mMin.x, mMin.y, mMax.z);
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| 102 | b->SetValue(mMin.x, mMax.y, mMax.z);
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| 103 | break;
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| 104 | case 7:
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| 105 | a->SetValue(mMin.x, mMin.y, mMax.z);
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| 106 | b->SetValue(mMax.x, mMin.y, mMax.z);
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| 107 | break;
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| 108 | case 8:
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| 109 | a->SetValue(mMin.x, mMax.y, mMin.z);
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| 110 | b->SetValue(mMin.x, mMax.y, mMax.z);
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| 111 | break;
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| 112 | case 9:
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| 113 | a->SetValue(mMin.x, mMax.y, mMin.z);
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| 114 | b->SetValue(mMax.x, mMax.y, mMin.z);
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| 115 | break;
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| 116 | case 10:
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| 117 | a->SetValue(mMax.x, mMin.y, mMin.z);
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| 118 | b->SetValue(mMax.x, mMax.y, mMin.z);
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| 119 | break;
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| 120 | case 11:
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| 121 | a->SetValue(mMax.x, mMin.y, mMin.z);
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| 122 | b->SetValue(mMax.x, mMin.y, mMax.z);
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| 123 | break;
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| 124 | }
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| 125 | }
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| 126 |
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| 127 | // returns the vertex indices in the range <0..7>, v = 4.x + 2.y + z, where
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| 128 | // x,y,z are either 0 or 1; (0 .. min coordinate, 1 .. max coordinate)
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| 129 | void
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| 130 | AxisAlignedBox3::GetEdge(const int edge, int &aIdx, int &bIdx) const
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| 131 | {
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| 132 | switch(edge) {
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| 133 | case 0: aIdx = 0; bIdx = 1; break;
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| 134 | case 1: aIdx = 0; bIdx = 2; break;
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| 135 | case 2: aIdx = 0; bIdx = 4; break;
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| 136 | case 3: aIdx = 7; bIdx = 6; break;
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| 137 | case 4: aIdx = 7; bIdx = 5; break;
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| 138 | case 5: aIdx = 7; bIdx = 3; break;
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| 139 | case 6: aIdx = 1; bIdx = 3; break;
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| 140 | case 7: aIdx = 1; bIdx = 5; break;
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| 141 | case 8: aIdx = 2; bIdx = 3; break;
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| 142 | case 9: aIdx = 2; bIdx = 6; break;
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| 143 | case 10: aIdx = 4; bIdx = 6; break;
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| 144 | case 11: aIdx = 4; bIdx = 5; break;
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| 145 | }
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| 146 | }
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| 147 |
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| 148 | void
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| 149 | AxisAlignedBox3::Include(const int &axis, const float &newBound)
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| 150 | {
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| 151 | switch (axis) {
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| 152 | case 0: { // x-axis
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| 153 | if (mMin.x > newBound)
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| 154 | mMin.x = newBound;
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| 155 | if (mMax.x < newBound)
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| 156 | mMax.x = newBound;
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| 157 | break;
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| 158 | }
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| 159 | case 1: { // y-axis
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| 160 | if (mMin.y > newBound)
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| 161 | mMin.y = newBound;
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| 162 | if (mMax.y < newBound)
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| 163 | mMax.y = newBound;
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| 164 | break;
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| 165 | }
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| 166 | case 2: { // z-axis
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| 167 | if (mMin.z > newBound)
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| 168 | mMin.z = newBound;
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| 169 | if (mMax.z < newBound)
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| 170 | mMax.z = newBound;
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| 171 | break;
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| 172 | }
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| 173 | }
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| 174 | }
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| 175 |
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| 176 |
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| 177 | void AxisAlignedBox3::Describe(ostream &app, int ind) const
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| 178 | {
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| 179 | indent(app, ind);
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| 180 | app << "AxisAlignedBox3: min at(" << mMin << "), max at(" << mMax << ")\n";
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| 181 | }
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| 182 |
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| 183 | int
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| 184 | AxisAlignedBox3::IsInside(const Vector3 &v) const
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| 185 | {
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| 186 | return ! ((v.x < mMin.x) ||
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| 187 | (v.x > mMax.x) ||
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| 188 | (v.y < mMin.y) ||
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| 189 | (v.y > mMax.y) ||
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| 190 | (v.z < mMin.z) ||
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| 191 | (v.z > mMax.z));
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| 192 | }
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| 193 |
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| 194 |
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| 195 | bool AxisAlignedBox3::Includes(const AxisAlignedBox3 &b) const
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| 196 | {
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| 197 | return (b.mMin.x >= mMin.x &&
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| 198 | b.mMin.y >= mMin.y &&
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| 199 | b.mMin.z >= mMin.z &&
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| 200 | b.mMax.x <= mMax.x &&
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| 201 | b.mMax.y <= mMax.y &&
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| 202 | b.mMax.z <= mMax.z);
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| 203 | }
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| 204 |
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| 205 |
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| 206 | // compute the coordinates of one vertex of the box
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| 207 | Vector3 AxisAlignedBox3::GetVertex(int xAxis, int yAxis, int zAxis) const
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| 208 | {
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| 209 | Vector3 p;
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| 210 | if (xAxis)
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| 211 | p.x = mMax.x;
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| 212 | else
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| 213 | p.x = mMin.x;
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| 214 |
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| 215 | if (yAxis)
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| 216 | p.y = mMax.y;
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| 217 | else
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| 218 | p.y = mMin.y;
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| 219 |
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| 220 | if (zAxis)
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| 221 | p.z = mMax.z;
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| 222 | else
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| 223 | p.z = mMin.z;
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| 224 | return p;
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| 225 | }
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| 226 |
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| 227 |
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| 228 | // compute the vertex for number N = <0..7>, N = 4.x + 2.y + z, where
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| 229 | // x,y,z are either 0 or 1; (0 .. min coordinate, 1 .. max coordinate)
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| 230 | void AxisAlignedBox3::GetVertex(const int N, Vector3 &vertex) const
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| 231 | {
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| 232 | switch (N)
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| 233 | {
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| 234 | case 0: vertex = mMin; break;
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| 235 | case 1: vertex.SetValue(mMin.x, mMin.y, mMax.z); break;
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| 236 | case 2: vertex.SetValue(mMin.x, mMax.y, mMin.z); break;
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| 237 | case 3: vertex.SetValue(mMin.x, mMax.y, mMax.z); break;
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| 238 | case 4: vertex.SetValue(mMax.x, mMin.y, mMin.z); break;
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| 239 | case 5: vertex.SetValue(mMax.x, mMin.y, mMax.z); break;
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| 240 | case 6: vertex.SetValue(mMax.x, mMax.y, mMin.z); break;
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| 241 | case 7: vertex = mMax; break;
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| 242 | default:
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| 243 | {
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| 244 | cerr << "ERROR in AxisAlignedBox3::GetVertex N=" << N << "\n";
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| 245 | }
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| 246 | }
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| 247 | }
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| 248 |
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| 249 |
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| 250 | float AxisAlignedBox3::SurfaceArea() const
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| 251 | {
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| 252 | Vector3 ext = mMax - mMin;
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| 253 |
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| 254 | return 2.0f * (ext.x * ext.y +
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| 255 | ext.x * ext.z +
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| 256 | ext.y * ext.z);
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| 257 | }
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| 258 |
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| 259 |
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[2751] | 260 | float AxisAlignedBox3::GetVolume() const
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| 261 | {
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| 262 | return (mMax.x - mMin.x) * (mMax.y - mMin.y) * (mMax.z - mMin.z);
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| 263 | }
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| 264 |
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| 265 |
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[2747] | 266 | const int AxisAlignedBox3::bvertices[27][9] =
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| 267 | { // region number.. position
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| 268 | {5,1,3,2,6,4,-1,-1,-1}, // 0 .. x=0 y=0 z=0
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| 269 | {4,5,1,3,2,0,-1,-1,-1}, // 1 .. x=0 y=0 z=1
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| 270 | {4,5,7,3,2,0,-1,-1,-1}, // 2 .. x=0 y=0 z=2
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| 271 |
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| 272 | {0,1,3,2,6,4,-1,-1,-1}, // 3 .. x=0 y=1 z=0
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| 273 | {0,1,3,2,-1,-1,-1,-1,-1}, // 4 .. x=0 y=1 z=1
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| 274 | {1,5,7,3,2,0,-1,-1,-1}, // 5 .. x=0 y=1 z=2
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| 275 |
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| 276 | {0,1,3,7,6,4,-1,-1,-1}, // 6 .. x=0 y=2 z=0
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| 277 | {0,1,3,7,6,2,-1,-1,-1}, // 7 .. x=0 y=2 z=1
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| 278 | {1,5,7,6,2,0,-1,-1,-1}, // 8 .. x=0 y=2 z=2
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| 279 |
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| 280 | // the regions number <9,17>
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| 281 | {5,1,0,2,6,4,-1,-1,-1}, // 9 .. x=1 y=0 z=0
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| 282 | {5,1,0,4,-1,-1,-1,-1,-1}, // 10 .. x=1 y=0 z=1
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| 283 | {7,3,1,0,4,5,-1,-1,-1}, // 11 .. x=1 y=0 z=2
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| 284 |
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| 285 | {4,0,2,6,-1,-1,-1,-1,-1}, // 12 .. x=1 y=1 z=0
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| 286 | {0,2,3,1,5,4,6,7,-1}, // 13 .. x=1 y=1 z=1 .. inside the box
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| 287 | {1,5,7,3,-1,-1,-1,-1,-1}, // 14 .. x=1 y=1 z=2
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| 288 |
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| 289 | {4,0,2,3,7,6,-1,-1,-1}, // 15 .. x=1 y=2 z=0
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| 290 | {6,2,3,7,-1,-1,-1,-1,-1}, // 16 .. x=1 y=2 z=1
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| 291 | {1,5,7,6,2,3,-1,-1,-1}, // 17 .. x=1 y=2 z=2
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| 292 |
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| 293 | // the regions number <18,26>
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| 294 | {1,0,2,6,7,5,-1,-1,-1}, // 18 .. x=2 y=0 z=0
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| 295 | {1,0,4,6,7,5,-1,-1,-1}, // 19 .. x=2 y=0 z=1
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| 296 | {0,4,6,7,3,1,-1,-1,-1}, // 20 .. x=2 y=0 z=2
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| 297 |
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| 298 | {4,0,2,6,7,5,-1,-1,-1}, // 21 .. x=2 y=1 z=0
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| 299 | {5,4,6,7,-1,-1,-1,-1,-1}, // 22 .. x=2 y=1 z=1
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| 300 | {5,4,6,7,3,1,-1,-1,-1}, // 23 .. x=2 y=1 z=2
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| 301 |
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| 302 | {4,0,2,3,7,5,-1,-1,-1}, // 24 .. x=2 y=2 z=0
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| 303 | {5,4,6,2,3,7,-1,-1,-1}, // 25 .. x=2 y=2 z=1
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| 304 | {5,4,6,2,3,1,-1,-1,-1}, // 26 .. x=2 y=2 z=2
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| 305 | };
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| 306 |
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| 307 | // the visibility of boundary faces from a given region
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| 308 | // one to three triples: (axis, min_vertex, max_vertex), axis==-1(terminator)
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| 309 | const int AxisAlignedBox3::bfaces[27][10] =
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| 310 | { // region number .. position
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| 311 | {0,0,3,1,0,5,2,0,6,-1}, // 0 .. x=0 y=0 z=0
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| 312 | {0,0,3,1,0,5,-1,-1,-1,-1}, // 1 .. x=0 y=0 z=1
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| 313 | {0,0,3,1,0,5,2,1,7,-1}, // 2 .. x=0 y=0 z=2
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| 314 |
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| 315 | {0,0,3,2,0,6,-1,-1,-1,-1}, // 3 .. x=0 y=1 z=0
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| 316 | {0,0,3,-1,-1,-1,-1,-1,-1,-1},// 4 .. x=0 y=1 z=1
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| 317 | {0,0,3,2,1,7,-1,-1,-1,-1}, // 5 .. x=0 y=1 z=2
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| 318 |
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| 319 | {0,0,3,1,2,7,2,0,6,-1}, // 6 .. x=0 y=2 z=0
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| 320 | {0,0,3,1,2,7,-1,-1,-1,-1}, // 7 .. x=0 y=2 z=1
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| 321 | {0,0,3,1,2,7,2,1,7,-1}, // 8 .. x=0 y=2 z=2
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| 322 |
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| 323 | // the regions number <9,17>
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| 324 | {1,0,5,2,0,6,-1,-1,-1,-1}, // 9 .. x=1 y=0 z=0
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| 325 | {1,0,5,-1,-1,-1,-1,-1,-1,-1},// 10 .. x=1 y=0 z=1
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| 326 | {1,0,5,2,1,7,-1,-1,-1,-1}, // 11 .. x=1 y=0 z=2
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| 327 |
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| 328 | {2,0,6,-1,-1,-1,-1,-1,-1,-1},// 12 .. x=1 y=1 z=0
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| 329 | {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1},// 13 .. x=1 y=1 z=1 .. inside the box
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| 330 | {2,1,7,-1,-1,-1,-1,-1,-1,-1},// 14 .. x=1 y=1 z=2
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| 331 |
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| 332 | {1,2,7,2,0,6,-1,-1,-1,-1}, // 15 .. x=1 y=2 z=0
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| 333 | {1,2,7,-1,-1,-1,-1,-1,-1,-1},// 16 .. x=1 y=2 z=1
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| 334 | {1,2,7,2,1,7,-1,-1,-1,-1}, // 17 .. x=1 y=2 z=2
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| 335 |
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| 336 | // the region number <18,26>
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| 337 | {0,4,7,1,0,5,2,0,6,-1}, // 18 .. x=2 y=0 z=0
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| 338 | {0,4,7,1,0,5,-1,-1,-1,-1}, // 19 .. x=2 y=0 z=1
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| 339 | {0,4,7,1,0,5,2,1,7,-1}, // 20 .. x=2 y=0 z=2
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| 340 |
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| 341 | {0,4,7,2,0,6,-1,-1,-1,-1}, // 21 .. x=2 y=1 z=0
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| 342 | {0,4,7,-1,-1,-1,-1,-1,-1,-1},// 22 .. x=2 y=1 z=1
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| 343 | {0,4,7,2,1,7,-1,-1,-1,-1}, // 23 .. x=2 y=1 z=2
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| 344 |
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| 345 | {0,4,7,1,2,7,2,0,6,-1}, // 24 .. x=2 y=2 z=0
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| 346 | {0,4,7,1,2,7,-1,-1,-1,-1}, // 25 .. x=2 y=2 z=1
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| 347 | {0,4,7,1,2,7,2,1,7,-1}, // 26 .. x=2 y=2 z=2
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| 348 | };
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| 349 |
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| 350 | // the correct corners indexing from entry face to exit face
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| 351 | // first index determines entry face, second index exit face, and
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| 352 | // the two numbers (indx, inc) determines: ind = the index on the exit
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| 353 | // face, when starting from the vertex 0 on entry face, 'inc' is
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| 354 | // the increment when we go on entry face in order 0,1,2,3 to create
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| 355 | // convex shaft with the rectangle on exit face. That is, inc = -1 or 1.
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| 356 | const int AxisAlignedBox3::pairFaceRects[6][6][2] = {
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| 357 | { // entry face = 0
|
---|
| 358 | {-1,0}, // exit face 0 .. no meaning
|
---|
| 359 | {0,-1}, // 1
|
---|
| 360 | {0,-1}, // 2
|
---|
| 361 | {0,1}, // 3 .. opposite face
|
---|
| 362 | {3,1}, // 4
|
---|
| 363 | {1,1} // 5
|
---|
| 364 | },
|
---|
| 365 | { // entry face = 1
|
---|
| 366 | {0,-1}, // exit face 0
|
---|
| 367 | {-1,0}, // 1 .. no meaning
|
---|
| 368 | {0,-1}, // 2
|
---|
| 369 | {1,1}, // 3
|
---|
| 370 | {0,1}, // 4 .. opposite face
|
---|
| 371 | {3,1} // 5
|
---|
| 372 | },
|
---|
| 373 | { // entry face = 2
|
---|
| 374 | {0,-1}, // 0
|
---|
| 375 | {0,-1}, // 1
|
---|
| 376 | {-1,0}, // 2 .. no meaning
|
---|
| 377 | {3,1}, // 3
|
---|
| 378 | {1,1}, // 4
|
---|
| 379 | {0,1} // 5 .. opposite face
|
---|
| 380 | },
|
---|
| 381 | { // entry face = 3
|
---|
| 382 | {0,1}, // 0 .. opposite face
|
---|
| 383 | {3,-1}, // 1
|
---|
| 384 | {1,1}, // 2
|
---|
| 385 | {-1,0}, // 3 .. no meaning
|
---|
| 386 | {0,-1}, // 4
|
---|
| 387 | {0,-1} // 5
|
---|
| 388 | },
|
---|
| 389 | { // entry face = 4
|
---|
| 390 | {1,1}, // 0
|
---|
| 391 | {0,1}, // 1 .. opposite face
|
---|
| 392 | {3,1}, // 2
|
---|
| 393 | {0,-1}, // 3
|
---|
| 394 | {-1,0}, // 4 .. no meaning
|
---|
| 395 | {0,-1} // 5
|
---|
| 396 | },
|
---|
| 397 | { // entry face = 5
|
---|
| 398 | {3,-1}, // 0
|
---|
| 399 | {1,1}, // 1
|
---|
| 400 | {0,1}, // 2 .. opposite face
|
---|
| 401 | {0,-1}, // 3
|
---|
| 402 | {0,-1}, // 4
|
---|
| 403 | {-1,0} // 5 .. no meaning
|
---|
| 404 | }
|
---|
| 405 | };
|
---|
| 406 |
|
---|
| 407 |
|
---|
| 408 | // ------------------------------------------------------------
|
---|
| 409 | // The vertices that form CLOSEST points with respect to the region
|
---|
| 410 | // for all the regions possible, number of regions is 3^3 = 27,
|
---|
| 411 | // since two parallel sides of bbox forms three disjoint spaces.
|
---|
| 412 | // The vertices are given in anti-clockwise order, stopped by value 15,
|
---|
| 413 | // at most 8 points, at least 1 point.
|
---|
| 414 | // The table includes the closest 1/2/4/8 points, followed possibly
|
---|
| 415 | // by the set of coordinates that should be used for testing for
|
---|
| 416 | // the proximity queries. The coordinates to be tested are described by
|
---|
| 417 | // the pair (a,b), when a=0, we want to test min vector of the box,
|
---|
| 418 | // when a=1, we want to test max vector of the box
|
---|
| 419 | // b=0,1,2 corresponds to the axis (0=x,1=y,2=z)
|
---|
| 420 | // The sequence is ended by 15, number -1 is used as the separator
|
---|
| 421 | // between the vertices and coordinates.
|
---|
| 422 | const int
|
---|
| 423 | AxisAlignedBox3::cvertices[27][9] =
|
---|
| 424 | { // region number.. position
|
---|
| 425 | {0,15,15,15,15,15,15,15,15}, // 0 .. x=0 y=0 z=0 D one vertex
|
---|
| 426 | {0,1,-1,0,0,0,1,15,15}, // 1 .. x=0 y=0 z=1 D two vertices foll. by 2
|
---|
| 427 | {1,15,15,15,15,15,15,15,15}, // 2 .. x=0 y=0 z=2 D one vertex
|
---|
| 428 |
|
---|
| 429 | {0,2,-1,0,0,0,2,15,15}, // 3 .. x=0 y=1 z=0 D
|
---|
| 430 | {0,1,3,2,-1,0,0,15,15}, // 4 .. x=0 y=1 z=1 D
|
---|
| 431 | {1,3,-1,0,0,1,2,15,15}, // 5 .. x=0 y=1 z=2 D
|
---|
| 432 |
|
---|
| 433 | {2,15,15,15,15,15,15,15,15}, // 6 .. x=0 y=2 z=0 D
|
---|
| 434 | {2,3,-1,0,0,1,1,15,15}, // 7 .. x=0 y=2 z=1 D
|
---|
| 435 | {3,15,15,15,15,15,15,15,15}, // 8 .. x=0 y=2 z=2 D
|
---|
| 436 |
|
---|
| 437 | // the regions number <9,17>
|
---|
| 438 | {0,4,-1,0,1,0,2,15,15}, // 9 .. x=1 y=0 z=0 D
|
---|
| 439 | {5,1,0,4,-1,0,1,15,15}, // 10 .. x=1 y=0 z=1 D
|
---|
| 440 | {1,5,-1,0,1,1,2,15,15}, // 11 .. x=1 y=0 z=2 D
|
---|
| 441 |
|
---|
| 442 | {4,0,2,6,-1,0,2,15,15}, // 12 .. x=1 y=1 z=0 D
|
---|
| 443 | {0,2,3,1,5,4,6,7,15}, // 13 .. x=1 y=1 z=1 .. inside the box
|
---|
| 444 | {1,5,7,3,-1,1,2,15,15}, // 14 .. x=1 y=1 z=2 D
|
---|
| 445 |
|
---|
| 446 | {6,2,-1,0,2,1,1,15,15}, // 15 .. x=1 y=2 z=0 D
|
---|
| 447 | {6,2,3,7,-1,1,1,15,15}, // 16 .. x=1 y=2 z=1 D
|
---|
| 448 | {3,7,-1,1,1,1,2,15,15}, // 17 .. x=1 y=2 z=2 D
|
---|
| 449 |
|
---|
| 450 | // the regions number <18,26>
|
---|
| 451 | {4,15,15,15,15,15,15,15,15}, // 18 .. x=2 y=0 z=0 D
|
---|
| 452 | {4,5,-1,0,1,1,0,15,15}, // 19 .. x=2 y=0 z=1 D
|
---|
| 453 | {5,15,15,15,15,15,15,15,15}, // 20 .. x=2 y=0 z=2 D
|
---|
| 454 |
|
---|
| 455 | {4,6,-1,0,2,1,0,15,15}, // 21 .. x=2 y=1 z=0 D
|
---|
| 456 | {5,4,6,7,-1,1,0,15,15}, // 22 .. x=2 y=1 z=1 D
|
---|
| 457 | {7,5,-1,1,0,1,2,15,15}, // 23 .. x=2 y=1 z=2 D
|
---|
| 458 |
|
---|
| 459 | {6,15,15,15,15,15,15,15,15}, // 24 .. x=2 y=2 z=0 D
|
---|
| 460 | {6,7,-1,1,0,1,1,15,15}, // 25 .. x=2 y=2 z=1 D
|
---|
| 461 | {7,15,15,15,15,15,15,15,15}, // 26 .. x=2 y=2 z=2 D
|
---|
| 462 | };
|
---|
| 463 |
|
---|
| 464 | // Table for Sphere-AABB intersection based on the region knowledge
|
---|
| 465 | // Similar array to previous cvertices, but we omit the surfaces
|
---|
| 466 | // which are not necessary for testing. First are vertices,
|
---|
| 467 | // they are finished with -1. Second, there are indexes in
|
---|
| 468 | // the pair (a,b), when a=0, we want to test min vector of the box,
|
---|
| 469 | // when a=1, we want to test max vector of the box
|
---|
| 470 | // b=0,1,2 corresponds to the axis (0=x,1=y,2=z)
|
---|
| 471 | //
|
---|
| 472 | // So either we check the vertices or only the distance in specified
|
---|
| 473 | // dimensions. There are at all four possible cases:
|
---|
| 474 | //
|
---|
| 475 | // 1) we check one vertex - then sequence start with non-negative index
|
---|
| 476 | // and is finished with 15
|
---|
| 477 | // 2) we check two coordinates of min/max vector describe by the pair
|
---|
| 478 | // (a,b) .. a=min/max(0/1) b=x/y/z (0/1/2), sequence starts with 8
|
---|
| 479 | // and finishes with 15
|
---|
| 480 | // 3) we check only one coordinate of min/max, as for 2), sequence start
|
---|
| 481 | // with 9 and ends with 15
|
---|
| 482 | // 4) Position 13 - sphere is inside the box, intersection always exist
|
---|
| 483 | // the sequence start with 15 .. no further testing is necessary
|
---|
| 484 | // in this case
|
---|
| 485 | const int
|
---|
| 486 | AxisAlignedBox3::csvertices[27][6] =
|
---|
| 487 | { // region number.. position
|
---|
| 488 | {0,15,15,15,15,15}, // 0 .. x=0 y=0 z=0 D vertex only
|
---|
| 489 | {8,0,0,0,1,15}, // 1 .. x=0 y=0 z=1 D two coords.
|
---|
| 490 | {1,15,15,15,15,15}, // 2 .. x=0 y=0 z=2 D vertex only
|
---|
| 491 |
|
---|
| 492 | {8,0,0,0,2,15}, // 3 .. x=0 y=1 z=0 D two coords
|
---|
| 493 | {9,0,0,15,15,15}, // 4 .. x=0 y=1 z=1 D one coord
|
---|
| 494 | {8,0,0,1,2,15}, // 5 .. x=0 y=1 z=2 D two coords.
|
---|
| 495 |
|
---|
| 496 | {2,15,15,15,15,15}, // 6 .. x=0 y=2 z=0 D one vertex
|
---|
| 497 | {8,0,0,1,1,15}, // 7 .. x=0 y=2 z=1 D two coords
|
---|
| 498 | {3,15,15,15,15,15}, // 8 .. x=0 y=2 z=2 D one vertex
|
---|
| 499 |
|
---|
| 500 | // the regions number <9,17>
|
---|
| 501 | {8,0,1,0,2,15}, // 9 .. x=1 y=0 z=0 D two coords
|
---|
| 502 | {9,0,1,15,15,15}, // 10 .. x=1 y=0 z=1 D one coord
|
---|
| 503 | {8,0,1,1,2,15}, // 11 .. x=1 y=0 z=2 D two coords
|
---|
| 504 |
|
---|
| 505 | {9,0,2,15,15,15}, // 12 .. x=1 y=1 z=0 D one coord
|
---|
| 506 | {15,15,15,15,15,15}, // 13 .. x=1 y=1 z=1 inside the box, special case/value
|
---|
| 507 | {9,1,2,15,15,15}, // 14 .. x=1 y=1 z=2 D one corrd
|
---|
| 508 |
|
---|
| 509 | {8,0,2,1,1,15}, // 15 .. x=1 y=2 z=0 D two coords
|
---|
| 510 | {9,1,1,15,15}, // 16 .. x=1 y=2 z=1 D one coord
|
---|
| 511 | {8,1,1,1,2,15}, // 17 .. x=1 y=2 z=2 D two coords
|
---|
| 512 |
|
---|
| 513 | // the regions number <18,26>
|
---|
| 514 | {4,15,15,15,15,15}, // 18 .. x=2 y=0 z=0 D one vertex
|
---|
| 515 | {8,0,1,1,0,15}, // 19 .. x=2 y=0 z=1 D two coords
|
---|
| 516 | {5,15,15,15,15,15}, // 20 .. x=2 y=0 z=2 D one vertex
|
---|
| 517 |
|
---|
| 518 | {8,0,2,1,0,15}, // 21 .. x=2 y=1 z=0 D two coords
|
---|
| 519 | {9,1,0,15,15,15}, // 22 .. x=2 y=1 z=1 D one coord
|
---|
| 520 | {8,1,0,1,2,15}, // 23 .. x=2 y=1 z=2 D two coords
|
---|
| 521 |
|
---|
| 522 | {6,15,15,15,15,15}, // 24 .. x=2 y=2 z=0 D one vertex
|
---|
| 523 | {8,1,0,1,1,15}, // 25 .. x=2 y=2 z=1 D two coords
|
---|
| 524 | {7,15,15,15,15,15}, // 26 .. x=2 y=2 z=2 D one vertex
|
---|
| 525 | };
|
---|
| 526 |
|
---|
| 527 |
|
---|
| 528 | // The vertices that form all FARTHEST points with respect to the region
|
---|
| 529 | // for all the regions possible, number of regions is 3^3 = 27,
|
---|
| 530 | // since two parallel sides of bbox forms three disjoint spaces.
|
---|
| 531 | // The vertices are given in anti-clockwise order, stopped by value 15,
|
---|
| 532 | // at most 8 points, at least 1 point.
|
---|
| 533 | // For testing, if the AABB is whole in the sphere, it is enough
|
---|
| 534 | // to test only vertices, either 1,2,4, or 8.
|
---|
| 535 | const int
|
---|
| 536 | AxisAlignedBox3::fvertices[27][9] =
|
---|
| 537 | { // region number.. position
|
---|
| 538 | {7,15,15,15,15,15,15,15,15}, // 0 .. x=0 y=0 z=0 D
|
---|
| 539 | {6,7,15,15,15,15,15,15,15}, // 1 .. x=0 y=0 z=1 D
|
---|
| 540 | {6,15,15,15,15,15,15,15,15}, // 2 .. x=0 y=0 z=2 D
|
---|
| 541 |
|
---|
| 542 | {5,7,15,15,15,15,15,15,15}, // 3 .. x=0 y=1 z=0 D
|
---|
| 543 | {4,5,7,6,15,15,15,15,15}, // 4 .. x=0 y=1 z=1 D
|
---|
| 544 | {4,6,15,15,15,15,15,15,15}, // 5 .. x=0 y=1 z=2 D
|
---|
| 545 |
|
---|
| 546 | {5,15,15,15,15,15,15,15,15}, // 6 .. x=0 y=2 z=0 D
|
---|
| 547 | {4,5,15,15,15,15,15,15,15}, // 7 .. x=0 y=2 z=1 D
|
---|
| 548 | {4,15,15,15,15,15,15,15,15}, // 8 .. x=0 y=2 z=2 D
|
---|
| 549 |
|
---|
| 550 | // the regions number <9,17>
|
---|
| 551 | {3,7,15,15,15,15,15,15,15}, // 9 .. x=1 y=0 z=0 D
|
---|
| 552 | {7,3,2,6,15,15,15,15,15}, // 10 .. x=1 y=0 z=1 D
|
---|
| 553 | {2,6,15,15,15,15,15,15,15}, // 11 .. x=1 y=0 z=2 D
|
---|
| 554 |
|
---|
| 555 | {5,1,3,7,15,15,15,15,15}, // 12 .. x=1 y=1 z=0 D
|
---|
| 556 | {0,7,1,6,3,4,5,2,15}, // 13 .. x=1 y=1 z=1 .. inside the box
|
---|
| 557 | {0,4,6,2,15,15,15,15,15}, // 14 .. x=1 y=1 z=2 D
|
---|
| 558 |
|
---|
| 559 | {5,1,15,15,15,15,15,15,15}, // 15 .. x=1 y=2 z=0 D
|
---|
| 560 | {4,0,1,5,15,15,15,15,15}, // 16 .. x=1 y=2 z=1 D
|
---|
| 561 | {4,0,15,15,15,15,15,15,15}, // 17 .. x=1 y=2 z=2 D
|
---|
| 562 |
|
---|
| 563 | // the regions number <18,26>
|
---|
| 564 | {3,15,15,15,15,15,15,15,15}, // 18 .. x=2 y=0 z=0 D
|
---|
| 565 | {2,3,15,15,15,15,15,15,15}, // 19 .. x=2 y=0 z=1 D
|
---|
| 566 | {2,15,15,15,15,15,15,15,15}, // 20 .. x=2 y=0 z=2 D
|
---|
| 567 |
|
---|
| 568 | {1,3,15,15,15,15,15,15,15}, // 21 .. x=2 y=1 z=0 D
|
---|
| 569 | {1,0,2,3,15,15,15,15,15}, // 22 .. x=2 y=1 z=1 D
|
---|
| 570 | {2,0,15,15,15,15,15,15,15}, // 23 .. x=2 y=1 z=2 D
|
---|
| 571 |
|
---|
| 572 | {1,15,15,15,15,15,15,15,15}, // 24 .. x=2 y=2 z=0 D
|
---|
| 573 | {0,1,15,15,15,15,15,15,15}, // 25 .. x=2 y=2 z=1 D
|
---|
| 574 | {0,15,15,15,15,15,15,15,15}, // 26 .. x=2 y=2 z=2 D
|
---|
| 575 | };
|
---|
| 576 |
|
---|
| 577 | // Similar table as above, farthest points, but only the ones
|
---|
| 578 | // necessary for testing the intersection problem. If we do
|
---|
| 579 | // not consider the case 13, center of the sphere is inside the
|
---|
| 580 | // box, then we can always test at most 2 box vertices to say whether
|
---|
| 581 | // the whole box is inside the sphere.
|
---|
| 582 | // The number of vertices is minimized using some assumptions
|
---|
| 583 | // about the ortogonality of vertices and sphere properties.
|
---|
| 584 | const int
|
---|
| 585 | AxisAlignedBox3::fsvertices[27][9] =
|
---|
| 586 | { // region number.. position
|
---|
| 587 | {7,15,15,15,15,15,15,15,15}, // 0 .. x=0 y=0 z=0 D 1 vertex
|
---|
| 588 | {6,7,15,15,15,15,15,15,15}, // 1 .. x=0 y=0 z=1 D 2 vertices
|
---|
| 589 | {6,15,15,15,15,15,15,15,15}, // 2 .. x=0 y=0 z=2 D 1 vertex
|
---|
| 590 |
|
---|
| 591 | {5,7,15,15,15,15,15,15,15}, // 3 .. x=0 y=1 z=0 D 2 vertices
|
---|
| 592 | {4,7,15,5,6,15,15,15,15}, // 4 .. x=0 y=1 z=1 D 4/2 vertices
|
---|
| 593 | {4,6,15,15,15,15,15,15,15}, // 5 .. x=0 y=1 z=2 D 2 vertices
|
---|
| 594 |
|
---|
| 595 | {5,15,15,15,15,15,15,15,15}, // 6 .. x=0 y=2 z=0 D 1 vertex
|
---|
| 596 | {4,5,15,15,15,15,15,15,15}, // 7 .. x=0 y=2 z=1 D 2 vertices
|
---|
| 597 | {4,15,15,15,15,15,15,15,15}, // 8 .. x=0 y=2 z=2 D 1 vertex
|
---|
| 598 |
|
---|
| 599 | // the regions number <9,17>
|
---|
| 600 | {3,7,15,15,15,15,15,15,15}, // 9 .. x=1 y=0 z=0 D 2 vertices
|
---|
| 601 | {7,2,15,3,6,15,15,15,15}, // 10 .. x=1 y=0 z=1 D 4/2 vertices
|
---|
| 602 | {2,6,15,15,15,15,15,15,15}, // 11 .. x=1 y=0 z=2 D 2 vertices
|
---|
| 603 |
|
---|
| 604 | {5,3,15,1,7,15,15,15,15}, // 12 .. x=1 y=1 z=0 D 4/2 vertices
|
---|
| 605 | {0,7,1,6,3,4,5,2,15}, // 13 .. x=1 y=1 z=1 .. inside the box
|
---|
| 606 | {0,6,15,4,2,15,15,15,15}, // 14 .. x=1 y=1 z=2 D 4/2 vertices
|
---|
| 607 |
|
---|
| 608 | {5,1,15,15,15,15,15,15,15}, // 15 .. x=1 y=2 z=0 D 2 vertices
|
---|
| 609 | {4,1,15,0,5,15,15,15,15}, // 16 .. x=1 y=2 z=1 D 4/2 vertices
|
---|
| 610 | {4,0,15,15,15,15,15,15,15}, // 17 .. x=1 y=2 z=2 D 2 vertices
|
---|
| 611 |
|
---|
| 612 | // the regions number <18,26>
|
---|
| 613 | {3,15,15,15,15,15,15,15,15}, // 18 .. x=2 y=0 z=0 D 1 vertex
|
---|
| 614 | {2,3,15,15,15,15,15,15,15}, // 19 .. x=2 y=0 z=1 D 2 vertices
|
---|
| 615 | {2,15,15,15,15,15,15,15,15}, // 20 .. x=2 y=0 z=2 D 1 vertex
|
---|
| 616 |
|
---|
| 617 | {1,3,15,15,15,15,15,15,15}, // 21 .. x=2 y=1 z=0 D 2 vertices
|
---|
| 618 | {1,2,15,0,3,15,15,15,15}, // 22 .. x=2 y=1 z=1 D 4/2 vertices
|
---|
| 619 | {2,0,15,15,15,15,15,15,15}, // 23 .. x=2 y=1 z=2 D 2 vertices
|
---|
| 620 |
|
---|
| 621 | {1,15,15,15,15,15,15,15,15}, // 24 .. x=2 y=2 z=0 D 1 vertex
|
---|
| 622 | {0,1,15,15,15,15,15,15,15}, // 25 .. x=2 y=2 z=1 D 2 vertices
|
---|
| 623 | {0,15,15,15,15,15,15,15,15}, // 26 .. x=2 y=2 z=2 D 1 vertex
|
---|
| 624 | };
|
---|
| 625 |
|
---|
| 626 |
|
---|
| 627 | // The fast computation of arctangent .. the maximal error is less
|
---|
| 628 | // than 4.1 degrees, according to Graphics GEMSII, 1991, pages 389--391
|
---|
| 629 | // Ron Capelli: "Fast approximation to the arctangent"
|
---|
| 630 | float atan22(const float& y)
|
---|
| 631 | {
|
---|
| 632 | const float x = 1.0;
|
---|
| 633 | const float c = (float)(M_PI * 0.25);
|
---|
| 634 |
|
---|
| 635 | if (y < 0.0) {
|
---|
| 636 | if (y < -1.0)
|
---|
| 637 | return c * (-2.0f + x / y); // for angle in <-PI/2, -PI/4)
|
---|
| 638 | else
|
---|
| 639 | return c * (y / x); // for angle in <-PI/4 , 0>
|
---|
| 640 | }
|
---|
| 641 | else {
|
---|
| 642 | if (y > 1.0)
|
---|
| 643 | return c * (2.0f - x / y); // for angle in <PI/4, PI/2>
|
---|
| 644 | else
|
---|
| 645 | return c * (y / x); // for angle in <0, PI/2>
|
---|
| 646 | }
|
---|
| 647 | }
|
---|
| 648 |
|
---|
| 649 |
|
---|
| 650 | // This definition allows to be a point when answering true
|
---|
| 651 | bool
|
---|
| 652 | AxisAlignedBox3::IsCorrectAndNotPoint() const
|
---|
| 653 | {
|
---|
| 654 | if ( (mMin.x > mMax.x) ||
|
---|
| 655 | (mMin.y > mMax.y) ||
|
---|
| 656 | (mMin.z > mMax.z) )
|
---|
| 657 | return false; // box is not formed
|
---|
| 658 |
|
---|
| 659 | if ( (mMin.x == mMax.x) &&
|
---|
| 660 | (mMin.y == mMax.y) &&
|
---|
| 661 | (mMin.z == mMax.z) )
|
---|
| 662 | return false; // degenerates to a point
|
---|
| 663 |
|
---|
| 664 | return true;
|
---|
| 665 | }
|
---|
| 666 |
|
---|
| 667 | // This definition allows to be a point when answering true
|
---|
| 668 | bool AxisAlignedBox3::IsPoint() const
|
---|
| 669 | {
|
---|
| 670 | if ( (mMin.x == mMax.x) &&
|
---|
| 671 | (mMin.y == mMax.y) &&
|
---|
| 672 | (mMin.z == mMax.z) )
|
---|
| 673 | return true; // degenerates to a point
|
---|
| 674 |
|
---|
| 675 | return false;
|
---|
| 676 | }
|
---|
| 677 |
|
---|
| 678 | // This definition requires shape of non-zero volume
|
---|
| 679 | bool AxisAlignedBox3::IsSingularOrIncorrect() const
|
---|
| 680 | {
|
---|
| 681 | if ( (mMin.x >= mMax.x) ||
|
---|
| 682 | (mMin.y >= mMax.y) ||
|
---|
| 683 | (mMin.z >= mMax.z) )
|
---|
| 684 | return true; // box is not formed
|
---|
| 685 |
|
---|
| 686 | return false; // has non-zero volume
|
---|
| 687 | }
|
---|
| 688 |
|
---|
| 689 |
|
---|
| 690 | void AxisAlignedBox3::GetSqrDistances(const Vector3 &point,
|
---|
| 691 | float &minDistance,
|
---|
| 692 | float &maxDistance) const
|
---|
| 693 | {
|
---|
| 694 | // some overlap is possible, check the distance of vertices
|
---|
| 695 | float sumMin = 0;
|
---|
| 696 | float sumMax = 0;
|
---|
| 697 |
|
---|
| 698 | // Try to minimize the function of a distance
|
---|
| 699 | // from the sphere center
|
---|
| 700 |
|
---|
| 701 | const float *minp = &(mMin.x);
|
---|
| 702 | const float *maxp = &(mMax.x);
|
---|
| 703 | const float *pcenter = &(point.x);
|
---|
| 704 |
|
---|
| 705 | // for x-axis
|
---|
| 706 | for (int i = 0; i < 3; i++, minp++, maxp++, pcenter++) {
|
---|
| 707 | float minsqr = sqr(*minp - *pcenter);
|
---|
| 708 | float maxsqr = sqr(*maxp - *pcenter);
|
---|
| 709 | if (*pcenter < *minp)
|
---|
| 710 | sumMin += minsqr;
|
---|
| 711 | else
|
---|
| 712 | if (*pcenter > *maxp)
|
---|
| 713 | sumMin += maxsqr;
|
---|
| 714 | sumMax += (minsqr > maxsqr) ? minsqr : maxsqr;
|
---|
| 715 | }
|
---|
| 716 |
|
---|
| 717 | minDistance = sumMin;
|
---|
| 718 | maxDistance = sumMax;
|
---|
| 719 | }
|
---|
| 720 |
|
---|
| 721 |
|
---|
| 722 | void AxisAlignedBox3::Scale(const float scale)
|
---|
| 723 | {
|
---|
| 724 | Vector3 newSize = Size()*(scale*0.5f);
|
---|
| 725 | Vector3 center = Center();
|
---|
| 726 | mMin = center - newSize;
|
---|
| 727 | mMax = center + newSize;
|
---|
| 728 | }
|
---|
| 729 |
|
---|
| 730 |
|
---|
| 731 | void AxisAlignedBox3::Scale(const Vector3 &scale)
|
---|
| 732 | {
|
---|
| 733 | Vector3 newSize = Size()*(scale*0.5f);
|
---|
| 734 | Vector3 center = Center();
|
---|
| 735 | mMin = center - newSize;
|
---|
| 736 | mMax = center + newSize;
|
---|
| 737 | }
|
---|
| 738 |
|
---|
| 739 |
|
---|
| 740 | void AxisAlignedBox3::Translate(const Vector3 &shift)
|
---|
| 741 | {
|
---|
| 742 | mMin += shift;
|
---|
| 743 | mMax += shift;
|
---|
| 744 | }
|
---|
| 745 |
|
---|
| 746 |
|
---|
| 747 | void AxisAlignedBox3::Initialize()
|
---|
| 748 | {
|
---|
| 749 | mMin = Vector3(MAXFLOAT);
|
---|
| 750 | mMax = Vector3(-MAXFLOAT);
|
---|
| 751 | }
|
---|
| 752 |
|
---|
| 753 |
|
---|
| 754 | Vector3 AxisAlignedBox3::Center() const
|
---|
| 755 | {
|
---|
| 756 | return 0.5 * (mMin + mMax);
|
---|
| 757 | }
|
---|
| 758 |
|
---|
| 759 |
|
---|
| 760 | Vector3 AxisAlignedBox3::Diagonal() const
|
---|
| 761 | {
|
---|
| 762 | return (mMax - mMin);
|
---|
| 763 | }
|
---|
| 764 |
|
---|
| 765 |
|
---|
| 766 | float AxisAlignedBox3::Center(const int axis) const
|
---|
| 767 | {
|
---|
| 768 | return 0.5f * (mMin[axis] + mMax[axis]);
|
---|
| 769 | }
|
---|
| 770 |
|
---|
| 771 |
|
---|
| 772 | float AxisAlignedBox3::Min(const int axis) const
|
---|
| 773 | {
|
---|
| 774 | return mMin[axis];
|
---|
| 775 | }
|
---|
| 776 |
|
---|
| 777 |
|
---|
| 778 | float AxisAlignedBox3::Max(const int axis) const
|
---|
| 779 | {
|
---|
| 780 | return mMax[axis];
|
---|
| 781 | }
|
---|
| 782 |
|
---|
| 783 |
|
---|
| 784 | float AxisAlignedBox3::Size(const int axis) const
|
---|
| 785 | {
|
---|
| 786 | return Max(axis) - Min(axis);
|
---|
| 787 | }
|
---|
| 788 |
|
---|
| 789 | // Read-only const access tomMin and max vectors using references
|
---|
| 790 | const Vector3& AxisAlignedBox3::Min() const
|
---|
| 791 | {
|
---|
| 792 | return mMin;
|
---|
| 793 | }
|
---|
| 794 |
|
---|
| 795 |
|
---|
| 796 | const Vector3& AxisAlignedBox3::Max() const
|
---|
| 797 | {
|
---|
| 798 | return mMax;
|
---|
| 799 | }
|
---|
| 800 |
|
---|
| 801 |
|
---|
| 802 | void AxisAlignedBox3::Enlarge (const Vector3 &v)
|
---|
| 803 | {
|
---|
| 804 | mMax += v;
|
---|
| 805 | mMin -= v;
|
---|
| 806 | }
|
---|
| 807 |
|
---|
| 808 |
|
---|
| 809 | void AxisAlignedBox3::EnlargeToMinSize()
|
---|
| 810 | {
|
---|
| 811 | const float epsMin = 1e-7f;
|
---|
| 812 | const float epsAdd = 1e-6f;
|
---|
| 813 | const float epsMul = 1.000005f;
|
---|
| 814 | float dir = mMax.x - mMin.x;
|
---|
| 815 |
|
---|
| 816 | assert(dir >= 0.f);
|
---|
| 817 |
|
---|
| 818 | if (dir < epsMin)
|
---|
| 819 | {
|
---|
| 820 | if (mMax.x > 0)
|
---|
| 821 | {
|
---|
| 822 | mMax.x *= epsMul;
|
---|
| 823 | mMax.x += epsAdd;
|
---|
| 824 | }
|
---|
| 825 | else
|
---|
| 826 | {
|
---|
| 827 | mMin.x *= epsMul;
|
---|
| 828 | mMin.x -= epsAdd;
|
---|
| 829 | }
|
---|
| 830 |
|
---|
| 831 | assert(mMin.x < mMax.x);
|
---|
| 832 | }
|
---|
| 833 |
|
---|
| 834 | dir = mMax.y - mMin.y;
|
---|
| 835 | assert(dir >= 0.f);
|
---|
| 836 |
|
---|
| 837 | if (dir < epsMin)
|
---|
| 838 | {
|
---|
| 839 | if (mMax.y > 0)
|
---|
| 840 | {
|
---|
| 841 | mMax.y *= epsMul;
|
---|
| 842 | mMax.y += epsAdd;
|
---|
| 843 | }
|
---|
| 844 | else
|
---|
| 845 | {
|
---|
| 846 | mMin.y *= epsMul;
|
---|
| 847 | mMin.y -= epsAdd;
|
---|
| 848 | }
|
---|
| 849 | assert(mMin.y < mMax.y);
|
---|
| 850 | }
|
---|
| 851 |
|
---|
| 852 | dir = mMax.z - mMin.z;
|
---|
| 853 | assert(dir >= 0.f);
|
---|
| 854 |
|
---|
| 855 | if (dir < epsMin)
|
---|
| 856 | {
|
---|
| 857 | if (mMax.z > 0)
|
---|
| 858 | {
|
---|
| 859 | mMax.z *= epsMul;
|
---|
| 860 | mMax.z += epsAdd;
|
---|
| 861 | }
|
---|
| 862 | else
|
---|
| 863 | {
|
---|
| 864 | mMin.z *= epsMul;
|
---|
| 865 | mMin.z -= epsAdd;
|
---|
| 866 | }
|
---|
| 867 |
|
---|
| 868 | assert(mMin.z < mMax.z);
|
---|
| 869 | }
|
---|
| 870 | }
|
---|
| 871 |
|
---|
| 872 |
|
---|
| 873 | void AxisAlignedBox3::SetMin(const Vector3 &v)
|
---|
| 874 | {
|
---|
| 875 | mMin = v;
|
---|
| 876 | }
|
---|
| 877 |
|
---|
| 878 |
|
---|
| 879 | void AxisAlignedBox3::SetMax(const Vector3 &v)
|
---|
| 880 | {
|
---|
| 881 | mMax = v;
|
---|
| 882 | }
|
---|
| 883 |
|
---|
| 884 |
|
---|
| 885 | void AxisAlignedBox3::SetMin(int axis, const float value)
|
---|
| 886 | {
|
---|
| 887 | mMin[axis] = value;
|
---|
| 888 | }
|
---|
| 889 |
|
---|
| 890 |
|
---|
| 891 | void AxisAlignedBox3::SetMax(int axis, const float value)
|
---|
| 892 | {
|
---|
| 893 | mMax[axis] = value;
|
---|
| 894 | }
|
---|
| 895 |
|
---|
| 896 |
|
---|
| 897 | // Decrease box by given splitting plane
|
---|
| 898 | void AxisAlignedBox3::Reduce(int axis, int right, float value)
|
---|
| 899 | {
|
---|
| 900 | if ((value >=mMin[axis]) && (value <= mMax[axis]))
|
---|
| 901 | {
|
---|
| 902 | if (right)
|
---|
| 903 | mMin[axis] = value;
|
---|
| 904 | else
|
---|
| 905 | mMax[axis] = value;
|
---|
| 906 | }
|
---|
| 907 | }
|
---|
| 908 |
|
---|
| 909 |
|
---|
| 910 | Vector3 AxisAlignedBox3::Size() const
|
---|
| 911 | {
|
---|
| 912 | return mMax - mMin;
|
---|
| 913 | }
|
---|
| 914 |
|
---|
| 915 |
|
---|
| 916 | Vector3 AxisAlignedBox3::GetRandomPoint() const
|
---|
| 917 | {
|
---|
| 918 | Vector3 size = Size();
|
---|
| 919 |
|
---|
[2751] | 920 | return mMin + Vector3(RandomValue(0.0f, 1.0f),
|
---|
| 921 | RandomValue(0.0f, 1.0f),
|
---|
| 922 | RandomValue(0.0f, 1.0f)) * Size();
|
---|
[2747] | 923 | }
|
---|
| 924 |
|
---|
| 925 |
|
---|
| 926 | bool AxisAlignedBox3::Intersects(const Vector3 &lStart,
|
---|
| 927 | const Vector3 &lEnd) const
|
---|
| 928 | {
|
---|
| 929 | float st, et, fst = 0, fet = 1;
|
---|
| 930 | float const *bmin = &mMin.x;
|
---|
| 931 | float const *bmax = &mMax.x;
|
---|
| 932 | float const *si = &lStart.x;
|
---|
| 933 | float const *ei = &lEnd.x;
|
---|
| 934 |
|
---|
| 935 | for (int i = 0; i < 3; ++ i)
|
---|
| 936 | {
|
---|
| 937 | if (*si < *ei)
|
---|
| 938 | {
|
---|
| 939 | if (*si > *bmax || *ei < *bmin)
|
---|
| 940 | return false;
|
---|
| 941 |
|
---|
| 942 | const float di = *ei - *si;
|
---|
| 943 |
|
---|
| 944 | st = (*si < *bmin)? (*bmin - *si) / di : 0;
|
---|
| 945 | et = (*ei > *bmax)? (*bmax - *si) / di : 1;
|
---|
| 946 | }
|
---|
| 947 | else
|
---|
| 948 | {
|
---|
| 949 | if (*ei > *bmax || *si < *bmin)
|
---|
| 950 | return false;
|
---|
| 951 |
|
---|
| 952 | const float di = *ei - *si;
|
---|
| 953 |
|
---|
| 954 | st = (*si > *bmax)? (*bmax - *si) / di : 0;
|
---|
| 955 | et = (*ei < *bmin)? (*bmin - *si) / di : 1;
|
---|
| 956 | }
|
---|
| 957 |
|
---|
| 958 | if (st > fst) fst = st;
|
---|
| 959 | if (et < fet) fet = et;
|
---|
| 960 | if (fet < fst)
|
---|
| 961 | return false;
|
---|
| 962 |
|
---|
| 963 | ++ bmin; ++ bmax;
|
---|
| 964 | ++ si; ++ ei;
|
---|
| 965 | }
|
---|
| 966 |
|
---|
| 967 | //*time = fst;
|
---|
| 968 | return true;
|
---|
| 969 | }
|
---|
| 970 |
|
---|
| 971 |
|
---|
[2751] | 972 | Vector3 AxisAlignedBox3::GetVertex(const int N) const
|
---|
| 973 | {
|
---|
| 974 | Vector3 v;
|
---|
| 975 | GetVertex(N, v);
|
---|
| 976 |
|
---|
| 977 | return v;
|
---|
| 978 | }
|
---|
| 979 |
|
---|
| 980 |
|
---|
| 981 | float AxisAlignedBox3::GetExtent(int face) const
|
---|
| 982 | {
|
---|
| 983 | if (face < 3)
|
---|
| 984 | return mMin[face];
|
---|
| 985 | else
|
---|
[2755] | 986 | return mMax[face - 3];
|
---|
[2751] | 987 | }
|
---|
| 988 |
|
---|
[2802] | 989 |
|
---|
[2755] | 990 | int AxisAlignedBox3::GetIndexNearestVertex(const Vector3 &vecPlaneNormal)
|
---|
| 991 | {
|
---|
[2762] | 992 | int x, y, z;
|
---|
[2755] | 993 |
|
---|
[2762] | 994 | x = (vecPlaneNormal.x > 0.0f) ? 0 : 1;
|
---|
| 995 | y = (vecPlaneNormal.y > 0.0f) ? 0 : 1;
|
---|
| 996 | z = (vecPlaneNormal.z > 0.0f) ? 0 : 1;
|
---|
| 997 |
|
---|
| 998 | return 4 * x + 2 * y + z;
|
---|
[2751] | 999 | }
|
---|
| 1000 |
|
---|
[2755] | 1001 |
|
---|
| 1002 | int AxisAlignedBox3::GetIndexFarthestVertex(const Vector3 &vecPlaneNormal)
|
---|
| 1003 | {
|
---|
[2762] | 1004 | int x, y, z;
|
---|
[2755] | 1005 |
|
---|
[2762] | 1006 | x = (vecPlaneNormal.x <= 0.0f) ? 0 : 1;
|
---|
| 1007 | y = (vecPlaneNormal.y <= 0.0f) ? 0 : 1;
|
---|
| 1008 | z = (vecPlaneNormal.z <= 0.0f) ? 0 : 1;
|
---|
| 1009 |
|
---|
| 1010 | return 4 * x + 2 * y + z;
|
---|
[2755] | 1011 | }
|
---|
| 1012 |
|
---|
| 1013 |
|
---|
| 1014 | float AxisAlignedBox3::GetDistance(int index, const Plane3 &plane) const
|
---|
| 1015 | {
|
---|
| 1016 | return plane.Distance(GetVertex(index));
|
---|
| 1017 | }
|
---|
| 1018 |
|
---|
| 1019 |
|
---|
| 1020 | float AxisAlignedBox3::GetMinVisibleDistance(const Plane3 &near) const
|
---|
| 1021 | {
|
---|
| 1022 | return near.mNormal.x * ((near.mNormal.x > 0.0f) ? mMin.x : mMax.x) +
|
---|
| 1023 | near.mNormal.y * ((near.mNormal.y > 0.0f) ? mMin.y : mMax.y) +
|
---|
| 1024 | near.mNormal.z * ((near.mNormal.z > 0.0f) ? mMin.z : mMax.z) +
|
---|
| 1025 | near.mD;
|
---|
| 1026 | }
|
---|
| 1027 |
|
---|
| 1028 | }
|
---|
| 1029 |
|
---|