[2747] | 1 | #ifndef _AxisAlignedBox3_H__
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| 2 | #define _AxisAlignedBox3_H__
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| 3 |
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| 4 |
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| 5 | #include "Matrix4x4.h"
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| 6 | #include "Vector3.h"
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[2911] | 7 | #include "common.h"
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[2747] | 8 |
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| 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 | struct Triangle3;
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[2755] | 14 | class Plane3;
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[2911] | 15 | class Polygon3;
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| 16 | class Polyhedron;
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[2747] | 17 |
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[2911] | 18 |
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[2913] | 19 | struct SimpleRay
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| 20 | {
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| 21 | SimpleRay() {}
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| 22 |
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| 23 | SimpleRay(const Vector3 &o, const Vector3 &d): mOrigin(o), mDirection(d) {}
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| 24 |
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| 25 | Vector3 mOrigin;
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| 26 | Vector3 mDirection;
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| 27 |
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| 28 | Vector3 Extrap(const float t) const
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| 29 | {
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| 30 | return mOrigin + mDirection * t;
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| 31 | }
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| 32 | };
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| 33 |
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| 34 |
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[2747] | 35 | /** Axis alignedd box class.
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[2751] | 36 | This is a box in 3-space, defined by min and max
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| 37 | corner vectors. Many useful operations are defined.
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[2747] | 38 | */
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| 39 | class AxisAlignedBox3
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| 40 | {
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| 41 |
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| 42 | public:
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| 43 |
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[2751] | 44 | ///////////
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| 45 | //-- Constructors.
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[2747] | 46 |
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[2751] | 47 | AxisAlignedBox3();
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[2747] | 48 |
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[2751] | 49 | AxisAlignedBox3(const Vector3 &nMin, const Vector3 &nMax);
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[2747] | 50 | /** initialization to the non existing bounding box
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| 51 | */
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| 52 | void Initialize();
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| 53 | /** The center of the box
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| 54 | */
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| 55 | Vector3 Center() const;
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| 56 | /** The diagonal of the box
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| 57 | */
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| 58 | Vector3 Diagonal() const;
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| 59 |
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| 60 | float Center(const int axis) const;
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| 61 |
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| 62 | float Min(const int axis) const;
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| 63 |
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| 64 | float Max(const int axis) const;
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| 65 |
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| 66 | float Size(const int axis) const;
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[3070] | 67 | /** Returns axis where box has largest extent.
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| 68 | */
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| 69 | int MajorAxis() const;
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| 70 | /** Read-only const access tomMin and max vectors using references
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| 71 | */
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[2747] | 72 | const Vector3& Min() const;
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| 73 | const Vector3& Max() const;
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| 74 |
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[2755] | 75 | void Enlarge(const Vector3 &v);
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[2747] | 76 |
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| 77 | void EnlargeToMinSize();
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| 78 |
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| 79 | void SetMin(const Vector3 &v);
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| 80 |
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| 81 | void SetMax(const Vector3 &v);
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| 82 |
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| 83 | void SetMin(int axis, const float value);
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| 84 |
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| 85 | void SetMax(int axis, const float value);
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[2755] | 86 | /** Decrease box by given splitting plane
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| 87 | */
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[2747] | 88 | void Reduce(int axis, int right, float value);
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| 89 |
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| 90 | bool Intersects(const Vector3 &lStart, const Vector3 &lEnd) const;
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| 91 |
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| 92 | // the size of the box along all the axes
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| 93 | Vector3 Size() const;
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[2755] | 94 | float Radius() const { return 0.5f * Magnitude(Size()); }
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| 95 | float SqrRadius() const { return 0.5f * SqrMagnitude(Size()); }
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[3070] | 96 | /** Return whether the box is unbounded. Unbounded boxes appear
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| 97 | when unbounded objects such as quadric surfaces are included.
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| 98 | */
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[2747] | 99 | bool Unbounded() const;
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| 100 |
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| 101 | // Expand the axis-aligned box to include the given object.
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| 102 | void Include(const Vector3 &newpt);
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| 103 | void Include(const AxisAlignedBox3 &bbox);
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[2911] | 104 | void Include(const Polygon3 &newpoly);
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| 105 | void Include(const PolygonContainer &polys);
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| 106 |
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[2747] | 107 | /** Expand the axis-aligned box to include given values in particular axis.
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| 108 | */
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| 109 | void Include(const int &axis, const float &newBound);
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| 110 | /** Includes returns true if a includes b (completely)
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| 111 | */
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| 112 | bool Includes(const AxisAlignedBox3 &b) const;
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[2911] | 113 |
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[2747] | 114 | /** Returns true if this point is inside box.
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| 115 | */
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| 116 | virtual int IsInside(const Vector3 &v) const;
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| 117 | /** Test if the box makes sense.
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| 118 | */
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| 119 | virtual bool IsCorrect();
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| 120 | /** To answer true requires the box of real volume of non-zero value.
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| 121 | */
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| 122 | bool IsSingularOrIncorrect() const;
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| 123 | /** When the box is not of non-zero or negative surface area.
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| 124 | */
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| 125 | bool IsCorrectAndNotPoint() const;
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| 126 | /** Returns true when the box degenerates to a point.
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| 127 | */
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| 128 | bool IsPoint() const;
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| 129 | /** Scales the box with the factor.
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| 130 | */
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[2755] | 131 | void Scale(float scale);
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[3070] | 132 | /** Scale box non-uniformally
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| 133 | */
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[2747] | 134 | void Scale(const Vector3 &scale);
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| 135 | /** Translates the box with the factor.
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| 136 | */
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| 137 | void Translate(const Vector3 &shift);
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| 138 | /** Returns the square of the minimal and maximal distance to
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[2751] | 139 | a point on the box.
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[2747] | 140 | */
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[2751] | 141 | void GetSqrDistances(const Vector3 &point,
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| 142 | float &minDistance,
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| 143 | float &maxDistance) const;
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| 144 | /** return random point in box.
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| 145 | */
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[2747] | 146 | Vector3 GetRandomPoint() const;
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[2751] | 147 | /** Returns surface area of the box.
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| 148 | */
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| 149 | float SurfaceArea() const;
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| 150 | /** Returns volume of the box.
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| 151 | */
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| 152 | float GetVolume() const;
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[2747] | 153 |
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| 154 | // Six faces are distuinguished by their name.
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[2951] | 155 | enum EFaces {ID_Back = 0,
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| 156 | ID_Left = 1,
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| 157 | ID_Bottom = 2,
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| 158 | ID_Front = 3,
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| 159 | ID_Right = 4,
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| 160 | ID_Top = 5};
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[2747] | 161 |
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| 162 | // Writes a brief description of the object, indenting by the given
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| 163 | // number of spaces first.
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| 164 | virtual void Describe(std::ostream& app, int ind) const;
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| 165 |
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| 166 | // For edge .. number <0..11> returns two incident vertices
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[2751] | 167 | void GetEdge(int edge, Vector3 *a, Vector3 *b) const;
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[2747] | 168 |
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| 169 | // Compute the coordinates of one vertex of the box for 0/1 in each axis
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| 170 | // 0 .. smaller coordinates, 1 .. large coordinates
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| 171 | Vector3 GetVertex(int xAxis, int yAxis, int zAxis) const;
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| 172 |
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| 173 | // Compute the vertex for number N=<0..7>, N = 4*x + 2*y + z, where
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| 174 | // x,y,z are either 0 or 1; (0 .. lower coordinate, 1 .. large coordinate)
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| 175 | // (xmin,ymin, zmin) .. N = 0, (xmax, ymax, zmax) .. N= 7
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[2751] | 176 | void GetVertex(int N, Vector3 &vertex) const;
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[2747] | 177 |
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[2751] | 178 | Vector3 GetVertex(int N) const;
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| 179 | /** get the extent of face.
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| 180 | */
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| 181 | float GetExtent(int face) const;
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| 182 | /** Returns 1, if the box includes on arbitrary face a given box
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| 183 | */
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[2747] | 184 | int IsPiercedByBox(const AxisAlignedBox3 &box, int &axis) const;
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| 185 |
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| 186 | int GetFaceVisibilityMask(const Vector3 &position) const;
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| 187 | /** Returns vertex indices of edge.
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| 188 | */
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[2755] | 189 | void GetEdge(int edge, int &aIdx, int &bIdx) const;
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| 190 | /** Get distance of plane to vertex with specified index.
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| 191 | */
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| 192 | float GetDistance(int index, const Plane3 &plane) const;
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| 193 | /** Returns the distance between the plane given by 'vecNearplaneNormal' and the vertex that
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| 194 | is closest to it (this vertex is unequivocally identified by the direction of the vector)
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| 195 | */
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[2947] | 196 | float GetMinDistance(const Plane3 &near) const;
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| 197 | /** Returns the distance between the plane given by 'vecNearplaneNormal' and the vertex that
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| 198 | is farthest to it (this vertex is unequivocally identified by the direction of the vector)
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| 199 | */
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| 200 | float GetMaxDistance(const Plane3 &near) const;
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| 201 |
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[2911] | 202 | /** Returns cross section of the plane as a polygon.
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| 203 | */
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[2913] | 204 | Polygon3 *CrossSection(const Plane3 &plane) const;
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[2911] | 205 | /** Returns the supporting plane of this face.
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| 206 | */
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[2913] | 207 | Plane3 GetPlane(const int face) const;
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[2911] | 208 | /** Returns
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| 209 | 0 if box intersects plane
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| 210 | 1 if box in front of plane
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| 211 | -1 if box behind plane
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| 212 | */
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| 213 | int Side(const Plane3 &plane) const;
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| 214 | /** Calculates the intersection of the polyhedron with the box.
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| 215 | */
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[2913] | 216 | Polyhedron *CalcIntersection(const Polyhedron &polyhedron) const;
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[2929] | 217 | /** Tests for intersection of the ray with the box.
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| 218 | */
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| 219 | bool Intersects(const SimpleRay &ray, float &tnear, float &tfar) const;
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| 220 | /** Extracts the box sides as polygons.
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| 221 | */
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| 222 | void ExtractPolygons(PolygonContainer &polys) const;
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[2951] | 223 | /** Returns triangle representation of this box.
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| 224 | */
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| 225 | void Triangulate(std::vector<Triangle3> &triangles) const;
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[2747] | 226 |
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| 227 |
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[2951] | 228 |
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[2751] | 229 | ////////////
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| 230 | //-- friend functions
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| 231 |
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[2755] | 232 | /// Overlap returns 1 if the two axis-aligned boxes overlap .. even weakly
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| 233 | friend inline bool Overlap(const AxisAlignedBox3 &, const AxisAlignedBox3 &);
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| 234 |
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| 235 | /// Overlap returns 1 if the two axis-aligned boxes overlap .. only strongly
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| 236 | friend inline bool OverlapS(const AxisAlignedBox3 &,const AxisAlignedBox3 &);
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| 237 |
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[2911] | 238 | /** Overlap returns 1 if the two axis-aligned boxes overlap for a given epsilon.
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| 239 | If eps > 0.0, then the boxes has to have the real intersection
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[2755] | 240 | box, if eps < 0.0, then the boxes need not intersect really, they
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| 241 | can be at eps distance in the projection.
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| 242 | */
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| 243 | friend inline bool Overlap(const AxisAlignedBox3 &, const AxisAlignedBox3 &, float eps);
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| 244 |
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| 245 |
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[2751] | 246 | // Returns the smallest axis-aligned box that includes all points
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| 247 | // inside the two given boxes.
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| 248 | friend inline AxisAlignedBox3 Union(const AxisAlignedBox3 &x,
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| 249 | const AxisAlignedBox3 &y);
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| 250 |
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| 251 | // Returns the intersection of two axis-aligned boxes.
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| 252 | friend inline AxisAlignedBox3 Intersect(const AxisAlignedBox3 &x,
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| 253 | const AxisAlignedBox3 &y);
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| 254 |
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| 255 | // Given 4x4 matrix, transform the current box to new one.
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| 256 | friend inline AxisAlignedBox3 Transform(const AxisAlignedBox3 &box,
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| 257 | const Matrix4x4 &tform);
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| 258 |
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| 259 |
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| 260 | // returns true when two boxes are completely equal
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| 261 | friend inline int operator== (const AxisAlignedBox3 &A,
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| 262 | const AxisAlignedBox3 &B);
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| 263 |
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| 264 | // input and output operator with stream
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| 265 | friend std::ostream& operator<<(std::ostream &s, const AxisAlignedBox3 &A);
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| 266 | friend std::istream& operator>>(std::istream &s, AxisAlignedBox3 &A);
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| 267 |
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| 268 |
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| 269 |
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[2747] | 270 | // The vertices that form boundaries of the projected bounding box
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| 271 | // for all the regions possible, number of regions is 3^3 = 27,
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| 272 | // since two parallel sides of bbox forms three disjoint spaces
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| 273 | // the vertices are given in anti-clockwise order .. stopped by -1 elem.
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| 274 | static const int bvertices[27][9];
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| 275 |
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| 276 | // The list of all faces visible from a given region (except region 13)
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| 277 | // the faces are identified by triple: (axis, min-vertex, max-vertex),
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| 278 | // that is maximaly three triples are defined. axis = 0 (x-axis),
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| 279 | // axis = 1 (y-axis), axis = 2 (z-axis), -1 .. terminator. Is is always
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| 280 | // true that: min-vertex < max-vertex for all coordinates excluding axis
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| 281 | static const int bfaces[27][10];
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| 282 |
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| 283 | // The correct corners indexed starting from entry face to exit face
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| 284 | // first index determines entry face, second index exit face, and
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| 285 | // the two numbers (indx, inc) determines: ind = the index on the exit
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| 286 | // face, when starting from the vertex 0 on entry face, 'inc' is
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| 287 | // the increment when we go on entry face in order 0,1,2,3 to create
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| 288 | // convex shaft with the rectangle on exit face. That is, inc = -1 or 1.
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| 289 | static const int pairFaceRects[6][6][2];
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| 290 |
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| 291 | // The vertices that form CLOSEST points with respect to the region
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| 292 | // for all the regions possible, number of regions is 3^3 = 27,
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| 293 | // since two parallel sides of bbox forms three disjoint spaces.
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| 294 | // The vertices are given in anti-clockwise order, stopped by -1 elem,
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| 295 | // at most 8 points, at least 1 point.
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| 296 | static const int cvertices[27][9];
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| 297 | static const int csvertices[27][6];
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| 298 |
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| 299 | // The vertices that form FARTHEST points with respect to the region
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| 300 | // for all the regions possible, number of regions is 3^3 = 27,
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| 301 | // since two parallel sides of bbox forms three disjoint spaces.
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| 302 | // The vertices are given in anti-clockwise order, stopped by -1 elem,
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| 303 | // at most 8 points, at least 1 point.
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| 304 | static const int fvertices[27][9];
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| 305 | static const int fsvertices[27][9];
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| 306 |
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[2755] | 307 | /** Returns the vertex index nearest from the plane specified by the normal.
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| 308 | */
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| 309 | static int GetIndexNearestVertex(const Vector3 &vecPlaneNormal);
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| 310 | /** Returns the vertwx index farthest from the plane specified by the normal.
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| 311 | */
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| 312 | static int GetIndexFarthestVertex(const Vector3 &vecPlaneNormal);
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| 313 |
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| 314 |
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| 315 |
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[2751] | 316 | protected:
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| 317 |
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| 318 | Vector3 mMin, mMax;
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[2747] | 319 | };
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| 320 |
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| 321 |
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| 322 | // --------------------------------------------------------------------------
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| 323 | // Implementation of inline (member) functions
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| 324 |
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| 325 | inline bool
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| 326 | Overlap(const AxisAlignedBox3 &x, const AxisAlignedBox3 &y)
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| 327 | {
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| 328 | if (x.mMax.x < y.mMin.x ||
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| 329 | x.mMin.x > y.mMax.x ||
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| 330 | x.mMax.y < y.mMin.y ||
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| 331 | x.mMin.y > y.mMax.y ||
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| 332 | x.mMax.z < y.mMin.z ||
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| 333 | x.mMin.z > y.mMax.z) {
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| 334 | return false;
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| 335 | }
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| 336 | return true;
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| 337 | }
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| 338 |
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| 339 | inline bool
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| 340 | OverlapS(const AxisAlignedBox3 &x, const AxisAlignedBox3 &y)
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| 341 | {
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| 342 | if (x.mMax.x <= y.mMin.x ||
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| 343 | x.mMin.x >= y.mMax.x ||
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| 344 | x.mMax.y <= y.mMin.y ||
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| 345 | x.mMin.y >= y.mMax.y ||
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| 346 | x.mMax.z <= y.mMin.z ||
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| 347 | x.mMin.z >= y.mMax.z) {
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| 348 | return false;
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| 349 | }
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| 350 | return true;
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| 351 | }
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| 352 |
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| 353 | inline bool
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| 354 | Overlap(const AxisAlignedBox3 &x, const AxisAlignedBox3 &y, float eps)
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| 355 | {
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| 356 | if ( (x.mMax.x - eps) < y.mMin.x ||
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| 357 | (x.mMin.x + eps) > y.mMax.x ||
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| 358 | (x.mMax.y - eps) < y.mMin.y ||
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| 359 | (x.mMin.y + eps) > y.mMax.y ||
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| 360 | (x.mMax.z - eps) < y.mMin.z ||
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| 361 | (x.mMin.z + eps) > y.mMax.z ) {
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| 362 | return false;
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| 363 | }
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| 364 | return true;
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| 365 | }
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| 366 |
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| 367 | inline AxisAlignedBox3
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| 368 | Intersect(const AxisAlignedBox3 &x, const AxisAlignedBox3 &y)
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| 369 | {
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| 370 | if (x.Unbounded())
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| 371 | return y;
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| 372 | else
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| 373 | if (y.Unbounded())
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| 374 | return x;
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| 375 | AxisAlignedBox3 ret = x;
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| 376 | if (Overlap(ret, y)) {
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| 377 | Maximize(ret.mMin, y.mMin);
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| 378 | Minimize(ret.mMax, y.mMax);
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| 379 | return ret;
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| 380 | }
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| 381 | else // Null intersection.
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| 382 | return AxisAlignedBox3(Vector3(0), Vector3(0));
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| 383 | // return AxisAlignedBox3(Vector3(0), Vector3(-1));
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| 384 | }
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| 385 |
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| 386 | inline AxisAlignedBox3
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| 387 | Union(const AxisAlignedBox3 &x, const AxisAlignedBox3 &y)
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| 388 | {
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| 389 | Vector3 min = x.mMin;
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| 390 | Vector3 max = x.mMax;
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| 391 | Minimize(min, y.mMin);
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| 392 | Maximize(max, y.mMax);
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| 393 | return AxisAlignedBox3(min, max);
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| 394 | }
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| 395 |
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| 396 | inline AxisAlignedBox3
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| 397 | Transform(const AxisAlignedBox3 &box, const Matrix4x4 &tform)
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| 398 | {
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| 399 | Vector3 mmin(MAXFLOAT);
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| 400 | Vector3 mmax(-MAXFLOAT);
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[2802] | 401 |
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[2747] | 402 | AxisAlignedBox3 ret(mmin, mmax);
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[2802] | 403 |
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[2747] | 404 | ret.Include(tform * Vector3(box.mMin.x, box.mMin.y, box.mMin.z));
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| 405 | ret.Include(tform * Vector3(box.mMin.x, box.mMin.y, box.mMax.z));
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| 406 | ret.Include(tform * Vector3(box.mMin.x, box.mMax.y, box.mMin.z));
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| 407 | ret.Include(tform * Vector3(box.mMin.x, box.mMax.y, box.mMax.z));
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| 408 | ret.Include(tform * Vector3(box.mMax.x, box.mMin.y, box.mMin.z));
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| 409 | ret.Include(tform * Vector3(box.mMax.x, box.mMin.y, box.mMax.z));
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| 410 | ret.Include(tform * Vector3(box.mMax.x, box.mMax.y, box.mMin.z));
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| 411 | ret.Include(tform * Vector3(box.mMax.x, box.mMax.y, box.mMax.z));
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[2802] | 412 |
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[2747] | 413 | return ret;
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| 414 | }
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| 415 |
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| 416 | inline float RatioOfOverlap(const AxisAlignedBox3 &box1, const AxisAlignedBox3 &box2)
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| 417 | {
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| 418 | // return ratio of intersection to union
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| 419 | const AxisAlignedBox3 bisect = Intersect(box1, box2);
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| 420 | const AxisAlignedBox3 bunion = Union(box1, box2);
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| 421 |
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| 422 | return bisect.GetVolume() / bunion.GetVolume();
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| 423 | }
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| 424 |
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| 425 | inline int operator==(const AxisAlignedBox3 &A, const AxisAlignedBox3 &B)
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| 426 | {
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| 427 | return (A.mMin == B.mMin) && (A.mMax == B.mMax);
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| 428 | }
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| 429 |
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| 430 |
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[2751] | 431 | }
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[2747] | 432 |
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| 433 |
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| 434 | #endif
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