[162] | 1 |
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| 2 | // GOLEM library
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| 3 | #include <assert.h>
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| 4 | #include <iostream>
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| 5 | using namespace std;
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| 6 | #include "AxisAlignedBox3.h"
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| 7 | #include "Ray.h"
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[295] | 8 | #include "Polygon3.h"
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[486] | 9 | #include "Mesh.h"
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[162] | 10 |
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| 11 | #define FATAL Debug
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| 12 | #define FATAL_ABORT exit(1)
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| 13 |
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| 14 |
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| 15 | // AxisAlignedBox3 implementations
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| 16 |
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| 17 | // Overload << operator for C++-style output
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| 18 | ostream&
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| 19 | operator<< (ostream &s, const AxisAlignedBox3 &A)
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| 20 | {
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| 21 | return s << '[' << A.mMin.x << ", " << A.mMin.y << ", " << A.mMin.z << "]["
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| 22 | << A.mMax.x << ", " << A.mMax.y << ", " << A.mMax.z << ']';
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| 23 | }
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| 24 |
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| 25 | // Overload >> operator for C++-style input
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| 26 | istream&
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| 27 | operator>> (istream &s, AxisAlignedBox3 &A)
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| 28 | {
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| 29 | char a;
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| 30 | // read "[min.x, min.y, min.z][mMax.x, mMax.y, mMax.z]"
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| 31 | return s >> a >> A.mMin.x >> a >> A.mMin.y >> a >> A.mMin.z >> a >> a
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| 32 | >> A.mMax.x >> a >> A.mMax.y >> a >> A.mMax.z >> a;
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| 33 | }
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| 34 |
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| 35 | bool
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| 36 | AxisAlignedBox3::Unbounded() const
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| 37 | {
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| 38 | return (mMin == Vector3(-MAXFLOAT)) ||
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| 39 | (mMax == Vector3(-MAXFLOAT));
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| 40 | }
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| 41 |
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| 42 | void
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| 43 | AxisAlignedBox3::Include(const Vector3 &newpt)
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| 44 | {
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| 45 | Minimize(mMin, newpt);
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| 46 | Maximize(mMax, newpt);
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| 47 | }
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| 48 |
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| 49 | void
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[295] | 50 | AxisAlignedBox3::Include(const Polygon3 &newpoly)
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| 51 | {
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| 52 | VertexContainer::const_iterator it, it_end = newpoly.mVertices.end();
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| 53 |
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| 54 | for (it = newpoly.mVertices.begin(); it != it_end; ++ it)
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| 55 | Include(*it);
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| 56 | }
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| 57 |
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| 58 | void
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[162] | 59 | AxisAlignedBox3::Include(const AxisAlignedBox3 &bbox)
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| 60 | {
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| 61 | Minimize(mMin, bbox.mMin);
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| 62 | Maximize(mMax, bbox.mMax);
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| 63 | }
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| 64 |
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| 65 | bool
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| 66 | AxisAlignedBox3::IsCorrect()
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| 67 | {
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| 68 | if ( (mMin.x > mMax.x) ||
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| 69 | (mMin.y > mMax.y) ||
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| 70 | (mMin.z > mMax.z) )
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| 71 | return false; // box is not formed
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| 72 | return true;
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| 73 | }
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| 74 |
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| 75 | void
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| 76 | AxisAlignedBox3::GetEdge(const int edge, Vector3 *a, Vector3 *b) const
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| 77 | {
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| 78 | switch(edge) {
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| 79 | case 0:
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| 80 | a->SetValue(mMin.x, mMin.y, mMin.z);
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| 81 | b->SetValue(mMin.x, mMin.y, mMax.z);
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| 82 | break;
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| 83 | case 1:
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| 84 | a->SetValue(mMin.x, mMin.y, mMin.z);
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| 85 | b->SetValue(mMin.x, mMax.y, mMin.z);
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| 86 | break;
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| 87 | case 2:
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| 88 | a->SetValue(mMin.x, mMin.y, mMin.z);
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| 89 | b->SetValue(mMax.x, mMin.y, mMin.z);
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| 90 | break;
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| 91 | case 3:
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| 92 | a->SetValue(mMax.x, mMax.y, mMax.z);
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| 93 | b->SetValue(mMax.x, mMax.y, mMin.z);
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| 94 | break;
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| 95 | case 4:
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| 96 | a->SetValue(mMax.x, mMax.y, mMax.z);
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| 97 | b->SetValue(mMax.x, mMin.y, mMax.z);
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| 98 | break;
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| 99 | case 5:
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| 100 | a->SetValue(mMax.x, mMax.y, mMax.z);
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| 101 | b->SetValue(mMin.x, mMax.y, mMax.z);
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| 102 | break;
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| 103 |
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| 104 | case 6:
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| 105 | a->SetValue(mMin.x, mMin.y, mMax.z);
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| 106 | b->SetValue(mMin.x, mMax.y, mMax.z);
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| 107 | break;
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| 108 | case 7:
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| 109 | a->SetValue(mMin.x, mMin.y, mMax.z);
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| 110 | b->SetValue(mMax.x, mMin.y, mMax.z);
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| 111 | break;
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| 112 | case 8:
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| 113 | a->SetValue(mMin.x, mMax.y, mMin.z);
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| 114 | b->SetValue(mMin.x, mMax.y, mMax.z);
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| 115 | break;
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| 116 | case 9:
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| 117 | a->SetValue(mMin.x, mMax.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 10:
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| 121 | a->SetValue(mMax.x, mMin.y, mMin.z);
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| 122 | b->SetValue(mMax.x, mMax.y, mMin.z);
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| 123 | break;
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| 124 | case 11:
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| 125 | a->SetValue(mMax.x, mMin.y, mMin.z);
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| 126 | b->SetValue(mMax.x, mMin.y, mMax.z);
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| 127 | break;
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| 128 | }
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| 129 | }
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| 130 |
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[312] | 131 | // returns the vertex indices in the range <0..7>, v = 4.x + 2.y + z, where
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| 132 | // x,y,z are either 0 or 1; (0 .. min coordinate, 1 .. max coordinate)
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[162] | 133 | void
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[312] | 134 | AxisAlignedBox3::GetEdge(const int edge, int &aIdx, int &bIdx) const
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| 135 | {
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| 136 | switch(edge) {
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| 137 | case 0: aIdx = 0; bIdx = 1; break;
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| 138 | case 1: aIdx = 0; bIdx = 2; break;
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| 139 | case 2: aIdx = 0; bIdx = 4; break;
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| 140 | case 3: aIdx = 7; bIdx = 6; break;
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| 141 | case 4: aIdx = 7; bIdx = 5; break;
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| 142 | case 5: aIdx = 7; bIdx = 3; break;
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| 143 | case 6: aIdx = 1; bIdx = 3; break;
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| 144 | case 7: aIdx = 1; bIdx = 5; break;
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| 145 | case 8: aIdx = 2; bIdx = 3; break;
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| 146 | case 9: aIdx = 2; bIdx = 6; break;
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| 147 | case 10: aIdx = 4; bIdx = 6; break;
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| 148 | case 11: aIdx = 4; bIdx = 5; break;
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| 149 | }
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| 150 | }
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| 151 |
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| 152 | void
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[162] | 153 | AxisAlignedBox3::Include(const int &axis, const float &newBound)
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| 154 | {
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| 155 | switch (axis) {
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| 156 | case 0: { // x-axis
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| 157 | if (mMin.x > newBound)
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| 158 | mMin.x = newBound;
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| 159 | if (mMax.x < newBound)
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| 160 | mMax.x = newBound;
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| 161 | break;
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| 162 | }
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| 163 | case 1: { // y-axis
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| 164 | if (mMin.y > newBound)
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| 165 | mMin.y = newBound;
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| 166 | if (mMax.y < newBound)
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| 167 | mMax.y = newBound;
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| 168 | break;
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| 169 | }
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| 170 | case 2: { // z-axis
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| 171 | if (mMin.z > newBound)
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| 172 | mMin.z = newBound;
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| 173 | if (mMax.z < newBound)
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| 174 | mMax.z = newBound;
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| 175 | break;
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| 176 | }
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| 177 | }
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| 178 | }
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| 179 |
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| 180 | #if 0
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| 181 | // ComputeMinMaxT computes the minimum and maximum signed distances
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| 182 | // of intersection with the ray; it returns 1 if the ray hits
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| 183 | // the bounding box and 0 if it does not.
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| 184 | int
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| 185 | AxisAlignedBox3::ComputeMinMaxT(const Ray &ray,
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| 186 | float *tmin,
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| 187 | float *tmax) const
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| 188 | {
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| 189 | float minx, maxx, miny, maxy, minz, maxz;
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| 190 |
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| 191 | if (fabs(ray.dir.x) < 0.001) {
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| 192 | if (mMin.x < ray.loc.x && mMax.x > ray.loc.x) {
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| 193 | minx = -MAXFLOAT;
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| 194 | maxx = MAXFLOAT;
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| 195 | }
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| 196 | else
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| 197 | return 0;
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| 198 | }
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| 199 | else {
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| 200 | float t1 = (mMin.x - ray.loc.x) / ray.dir.x;
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| 201 | float t2 = (mMax.x - ray.loc.x) / ray.dir.x;
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| 202 | if (t1 < t2) {
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| 203 | minx = t1;
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| 204 | maxx = t2;
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| 205 | }
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| 206 | else {
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| 207 | minx = t2;
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| 208 | maxx = t1;
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| 209 | }
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| 210 | if (maxx < 0)
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| 211 | return 0;
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| 212 | }
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| 213 |
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| 214 | if (fabs(ray.dir.y) < 0.001) {
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| 215 | if (mMin.y < ray.loc.y && mMax.y > ray.loc.y) {
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| 216 | miny = -MAXFLOAT;
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| 217 | maxy = MAXFLOAT;
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| 218 | }
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| 219 | else
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| 220 | return 0;
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| 221 | }
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| 222 | else {
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| 223 | float t1 = (mMin.y - ray.loc.y) / ray.dir.y;
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| 224 | float t2 = (mMax.y - ray.loc.y) / ray.dir.y;
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| 225 | if (t1 < t2) {
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| 226 | miny = t1;
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| 227 | maxy = t2;
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| 228 | }
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| 229 | else {
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| 230 | miny = t2;
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| 231 | maxy = t1;
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| 232 | }
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| 233 | if (maxy < 0.0)
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| 234 | return 0;
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| 235 | }
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| 236 |
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| 237 | if (fabs(ray.dir.z) < 0.001) {
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| 238 | if (mMin.z < ray.loc.z && mMax.z > ray.loc.z) {
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| 239 | minz = -MAXFLOAT;
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| 240 | maxz = MAXFLOAT;
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| 241 | }
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| 242 | else
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| 243 | return 0;
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| 244 | }
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| 245 | else {
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| 246 | float t1 = (mMin.z - ray.loc.z) / ray.dir.z;
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| 247 | float t2 = (mMax.z - ray.loc.z) / ray.dir.z;
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| 248 | if (t1 < t2) {
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| 249 | minz = t1;
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| 250 | maxz = t2;
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| 251 | }
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| 252 | else {
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| 253 | minz = t2;
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| 254 | maxz = t1;
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| 255 | }
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| 256 | if (maxz < 0.0)
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| 257 | return 0;
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| 258 | }
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| 259 |
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| 260 | *tmin = minx;
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| 261 | if (miny > *tmin)
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| 262 | *tmin = miny;
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| 263 | if (minz > *tmin)
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| 264 | *tmin = minz;
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| 265 |
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| 266 | *tmax = maxx;
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| 267 | if (maxy < *tmax)
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| 268 | *tmax = maxy;
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| 269 | if (maxz < *tmax)
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| 270 | *tmax = maxz;
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| 271 |
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| 272 | return 1; // yes, intersection was found
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| 273 | }
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| 274 | #else
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| 275 | // another variant of the same, with less variables
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| 276 | int
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| 277 | AxisAlignedBox3::ComputeMinMaxT(const Ray &ray,
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| 278 | float *tmin,
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| 279 | float *tmax) const
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| 280 | {
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| 281 | register float minx, maxx;
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| 282 | ray.ComputeInvertedDir();
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| 283 |
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| 284 | if (fabs(ray.dir.x) < 0.001) {
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| 285 | if (mMin.x < ray.loc.x && mMax.x > ray.loc.x) {
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| 286 | minx = -MAXFLOAT;
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| 287 | maxx = MAXFLOAT;
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| 288 | }
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| 289 | else
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| 290 | return 0;
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| 291 | }
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| 292 | else {
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| 293 | float t1 = (mMin.x - ray.loc.x) * ray.invDir.x;
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| 294 | float t2 = (mMax.x - ray.loc.x) * ray.invDir.x;
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| 295 | if (t1 < t2) {
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| 296 | minx = t1;
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| 297 | maxx = t2;
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| 298 | }
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| 299 | else {
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| 300 | minx = t2;
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| 301 | maxx = t1;
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| 302 | }
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[492] | 303 | // if (maxx < 0.0)
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| 304 | // return 0;
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[162] | 305 | }
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| 306 |
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| 307 | *tmin = minx;
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| 308 | *tmax = maxx;
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| 309 |
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| 310 | if (fabs(ray.dir.y) < 0.001) {
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| 311 | if (mMin.y < ray.loc.y && mMax.y > ray.loc.y) {
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| 312 | minx = -MAXFLOAT;
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| 313 | maxx = MAXFLOAT;
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| 314 | }
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| 315 | else
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| 316 | return 0;
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| 317 | }
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| 318 | else {
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| 319 | float t1 = (mMin.y - ray.loc.y) * ray.invDir.y;
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| 320 | float t2 = (mMax.y - ray.loc.y) * ray.invDir.y;
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| 321 | if (t1 < t2) {
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| 322 | minx = t1;
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| 323 | maxx = t2;
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| 324 | }
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| 325 | else {
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| 326 | minx = t2;
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| 327 | maxx = t1;
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| 328 | }
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[492] | 329 | // if (maxx < 0.0)
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| 330 | // return 0;
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[162] | 331 | }
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| 332 |
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| 333 | if (minx > *tmin)
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| 334 | *tmin = minx;
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| 335 | if (maxx < *tmax)
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| 336 | *tmax = maxx;
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| 337 |
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| 338 | if (fabs(ray.dir.z) < 0.001) {
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| 339 | if (mMin.z < ray.loc.z && mMax.z > ray.loc.z) {
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| 340 | minx = -MAXFLOAT;
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| 341 | maxx = MAXFLOAT;
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| 342 | }
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| 343 | else
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| 344 | return 0;
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| 345 | }
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| 346 | else {
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| 347 | float t1 = (mMin.z - ray.loc.z) * ray.invDir.z;
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| 348 | float t2 = (mMax.z - ray.loc.z) * ray.invDir.z;
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| 349 | if (t1 < t2) {
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| 350 | minx = t1;
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| 351 | maxx = t2;
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| 352 | }
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| 353 | else {
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| 354 | minx = t2;
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| 355 | maxx = t1;
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| 356 | }
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[492] | 357 | // if (maxx < 0.0)
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| 358 | // return 0;
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[162] | 359 | }
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| 360 |
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| 361 | if (minx > *tmin)
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| 362 | *tmin = minx;
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| 363 | if (maxx < *tmax)
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| 364 | *tmax = maxx;
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| 365 |
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| 366 | return 1; // yes, intersection was found
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| 367 | }
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| 368 | #endif
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| 369 |
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| 370 | // ComputeMinMaxT computes the minimum and maximum parameters
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| 371 | // of intersection with the ray; it returns 1 if the ray hits
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| 372 | // the bounding box and 0 if it does not.
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| 373 | int
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| 374 | AxisAlignedBox3::ComputeMinMaxT(const Ray &ray, float *tmin, float *tmax,
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| 375 | EFaces &entryFace, EFaces &exitFace) const
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| 376 | {
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| 377 | float minx, maxx, miny, maxy, minz, maxz;
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| 378 | int swapped[3];
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| 379 |
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| 380 | if (fabs(ray.dir.x) < 0.001) {
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| 381 | if (mMin.x < ray.loc.x && mMax.x > ray.loc.x) {
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| 382 | minx = -MAXFLOAT;
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| 383 | maxx = MAXFLOAT;
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| 384 | }
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| 385 | else
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| 386 | return 0;
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| 387 | }
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| 388 | else {
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| 389 | float t1 = (mMin.x - ray.loc.x) / ray.dir.x;
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| 390 | float t2 = (mMax.x - ray.loc.x) / ray.dir.x;
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| 391 | if (t1 < t2) {
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| 392 | minx = t1;
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| 393 | maxx = t2;
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| 394 | swapped[0] = 0;
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| 395 | }
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| 396 | else {
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| 397 | minx = t2;
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| 398 | maxx = t1;
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| 399 | swapped[0] = 1;
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| 400 | }
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| 401 | if (maxx < 0)
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| 402 | return 0;
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| 403 | }
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| 404 |
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| 405 | if (fabs(ray.dir.y) < 0.001) {
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| 406 | if (mMin.y < ray.loc.y && mMax.y > ray.loc.y) {
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| 407 | miny = -MAXFLOAT;
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| 408 | maxy = MAXFLOAT;
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| 409 | }
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| 410 | else
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| 411 | return 0;
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| 412 | }
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| 413 | else {
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| 414 | float t1 = (mMin.y - ray.loc.y) / ray.dir.y;
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| 415 | float t2 = (mMax.y - ray.loc.y) / ray.dir.y;
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| 416 | if (t1 < t2) {
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| 417 | miny = t1;
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| 418 | maxy = t2;
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| 419 | swapped[1] = 0;
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| 420 | }
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| 421 | else {
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| 422 | miny = t2;
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| 423 | maxy = t1;
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| 424 | swapped[1] = 1;
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| 425 | }
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| 426 | if (maxy < 0.0)
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| 427 | return 0;
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| 428 | }
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| 429 |
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| 430 | if (fabs(ray.dir.z) < 0.001) {
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| 431 | if (mMin.z < ray.loc.z && mMax.z > ray.loc.z) {
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| 432 | minz = -MAXFLOAT;
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| 433 | maxz = MAXFLOAT;
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| 434 | }
|
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| 435 | else
|
---|
| 436 | return 0;
|
---|
| 437 | }
|
---|
| 438 | else {
|
---|
| 439 | float t1 = (mMin.z - ray.loc.z) / ray.dir.z;
|
---|
| 440 | float t2 = (mMax.z - ray.loc.z) / ray.dir.z;
|
---|
| 441 | if (t1 < t2) {
|
---|
| 442 | minz = t1;
|
---|
| 443 | maxz = t2;
|
---|
| 444 | swapped[2] = 0;
|
---|
| 445 | }
|
---|
| 446 | else {
|
---|
| 447 | minz = t2;
|
---|
| 448 | maxz = t1;
|
---|
| 449 | swapped[2] = 1;
|
---|
| 450 | }
|
---|
| 451 | if (maxz < 0.0)
|
---|
| 452 | return 0;
|
---|
| 453 | }
|
---|
| 454 |
|
---|
| 455 | *tmin = minx;
|
---|
| 456 | entryFace = ID_Back;
|
---|
| 457 | if (miny > *tmin) {
|
---|
| 458 | *tmin = miny;
|
---|
| 459 | entryFace = ID_Left;
|
---|
| 460 | }
|
---|
| 461 | if (minz > *tmin) {
|
---|
| 462 | *tmin = minz;
|
---|
| 463 | entryFace = ID_Bottom;
|
---|
| 464 | }
|
---|
| 465 |
|
---|
| 466 | *tmax = maxx;
|
---|
| 467 | exitFace = ID_Back;
|
---|
| 468 | if (maxy < *tmax) {
|
---|
| 469 | *tmax = maxy;
|
---|
| 470 | exitFace = ID_Left;
|
---|
| 471 | }
|
---|
| 472 | if (maxz < *tmax) {
|
---|
| 473 | *tmax = maxz;
|
---|
| 474 | exitFace = ID_Bottom;
|
---|
| 475 | }
|
---|
| 476 |
|
---|
| 477 | if (swapped[entryFace])
|
---|
| 478 | entryFace = (EFaces)(entryFace + 3);
|
---|
| 479 |
|
---|
| 480 | if (!swapped[exitFace])
|
---|
| 481 | exitFace = (EFaces)(exitFace + 3);
|
---|
| 482 |
|
---|
| 483 | return 1; // yes, intersection was found
|
---|
| 484 | }
|
---|
| 485 |
|
---|
| 486 | void
|
---|
| 487 | AxisAlignedBox3::Describe(ostream &app, int ind) const
|
---|
| 488 | {
|
---|
| 489 | indent(app, ind);
|
---|
| 490 | app << "AxisAlignedBox3: min at(" << mMin << "), max at(" << mMax << ")\n";
|
---|
| 491 | }
|
---|
| 492 |
|
---|
| 493 | // computes the passing through parameters for case tmin<tmax and tmax>0
|
---|
| 494 | int
|
---|
| 495 | AxisAlignedBox3::GetMinMaxT(const Ray &ray, float *tmin, float *tmax) const
|
---|
| 496 | {
|
---|
| 497 | if (!ComputeMinMaxT(ray, tmin, tmax))
|
---|
| 498 | return 0;
|
---|
| 499 | if ( *tmax < *tmin)
|
---|
| 500 | return 0; // the ray passes outside the box
|
---|
| 501 |
|
---|
| 502 | if ( *tmax < 0.0)
|
---|
| 503 | return 0; // the intersection is not on the positive halfline
|
---|
| 504 |
|
---|
| 505 | return 1; // ray hits the box .. origin can be outside or inside the box
|
---|
| 506 | }
|
---|
| 507 |
|
---|
| 508 | // computes the signed distances for case tmin<tmax and tmax>0
|
---|
| 509 | int
|
---|
| 510 | AxisAlignedBox3::GetMinMaxT(const Ray &ray, float *tmin, float *tmax,
|
---|
| 511 | EFaces &entryFace, EFaces &exitFace) const
|
---|
| 512 | {
|
---|
| 513 | if (!ComputeMinMaxT(ray, tmin, tmax, entryFace, exitFace))
|
---|
| 514 | return 0;
|
---|
| 515 | if ( *tmax < *tmin)
|
---|
| 516 | return 0; // the ray passes outside the box
|
---|
| 517 |
|
---|
| 518 | if ( *tmax < 0.0)
|
---|
| 519 | return 0; // the intersection is not on the positive halfline
|
---|
| 520 |
|
---|
| 521 | return 1; // ray hits the box .. origin can be outside or inside the box
|
---|
| 522 | }
|
---|
| 523 |
|
---|
| 524 | #if 0
|
---|
| 525 | int
|
---|
| 526 | AxisAlignedBox3::IsInside(const Vector3 &point) const
|
---|
| 527 | {
|
---|
| 528 | return (point.x >= mMin.x) && (point.x <= mMax.x) &&
|
---|
| 529 | (point.y >= mMin.y) && (point.y <= mMax.y) &&
|
---|
| 530 | (point.z >= mMin.z) && (point.z <= mMax.z);
|
---|
| 531 | }
|
---|
| 532 | #else
|
---|
| 533 | int
|
---|
| 534 | AxisAlignedBox3::IsInside(const Vector3 &v) const
|
---|
| 535 | {
|
---|
| 536 | return ! (v.x < mMin.x ||
|
---|
| 537 | v.x > mMax.x ||
|
---|
| 538 | v.y < mMin.y ||
|
---|
| 539 | v.y > mMax.y ||
|
---|
| 540 | v.z < mMin.z ||
|
---|
| 541 | v.z > mMax.z);
|
---|
| 542 | }
|
---|
| 543 | #endif
|
---|
| 544 |
|
---|
| 545 | bool
|
---|
| 546 | AxisAlignedBox3::Includes(const AxisAlignedBox3 &b) const
|
---|
| 547 | {
|
---|
| 548 | return (b.mMin.x >= mMin.x &&
|
---|
| 549 | b.mMin.y >= mMin.y &&
|
---|
| 550 | b.mMin.z >= mMin.z &&
|
---|
| 551 | b.mMax.x <= mMax.x &&
|
---|
| 552 | b.mMax.y <= mMax.y &&
|
---|
| 553 | b.mMax.z <= mMax.z);
|
---|
| 554 |
|
---|
| 555 | }
|
---|
| 556 |
|
---|
| 557 |
|
---|
| 558 | // compute the coordinates of one vertex of the box
|
---|
| 559 | Vector3
|
---|
| 560 | AxisAlignedBox3::GetVertex(int xAxis, int yAxis, int zAxis) const
|
---|
| 561 | {
|
---|
| 562 | Vector3 p;
|
---|
| 563 | if (xAxis)
|
---|
| 564 | p.x = mMax.x;
|
---|
| 565 | else
|
---|
| 566 | p.x = mMin.x;
|
---|
| 567 |
|
---|
| 568 | if (yAxis)
|
---|
| 569 | p.y = mMax.y;
|
---|
| 570 | else
|
---|
| 571 | p.y = mMin.y;
|
---|
| 572 |
|
---|
| 573 | if (zAxis)
|
---|
| 574 | p.z = mMax.z;
|
---|
| 575 | else
|
---|
| 576 | p.z = mMin.z;
|
---|
| 577 | return p;
|
---|
| 578 | }
|
---|
| 579 |
|
---|
| 580 | // compute the vertex for number N = <0..7>, N = 4.x + 2.y + z, where
|
---|
| 581 | // x,y,z are either 0 or 1; (0 .. min coordinate, 1 .. max coordinate)
|
---|
| 582 | void
|
---|
[191] | 583 | AxisAlignedBox3::GetVertex(const int N, Vector3 &vertex) const
|
---|
[162] | 584 | {
|
---|
| 585 | switch (N) {
|
---|
| 586 | case 0: vertex = mMin; break;
|
---|
| 587 | case 1: vertex.SetValue(mMin.x, mMin.y, mMax.z); break;
|
---|
| 588 | case 2: vertex.SetValue(mMin.x, mMax.y, mMin.z); break;
|
---|
| 589 | case 3: vertex.SetValue(mMin.x, mMax.y, mMax.z); break;
|
---|
| 590 | case 4: vertex.SetValue(mMax.x, mMin.y, mMin.z); break;
|
---|
| 591 | case 5: vertex.SetValue(mMax.x, mMin.y, mMax.z); break;
|
---|
| 592 | case 6: vertex.SetValue(mMax.x, mMax.y, mMin.z); break;
|
---|
| 593 | case 7: vertex = mMax; break;
|
---|
| 594 | default: {
|
---|
| 595 | FATAL << "ERROR in AxisAlignedBox3::GetVertex N=" << N << "\n";
|
---|
| 596 | FATAL_ABORT;
|
---|
| 597 | }
|
---|
| 598 | }
|
---|
| 599 | }
|
---|
| 600 |
|
---|
| 601 | // Returns region 0 .. 26 ; R = 9*x + 3*y + z ; (x,y,z) \in {0,1,2}
|
---|
| 602 | int
|
---|
| 603 | AxisAlignedBox3::GetRegionID(const Vector3 &point) const
|
---|
| 604 | {
|
---|
| 605 | int ID = 0;
|
---|
| 606 |
|
---|
| 607 | if (point.z >= mMin.z) {
|
---|
| 608 | if (point.z <= mMax.z)
|
---|
| 609 | ID += 1; // inside the two boundary planes
|
---|
| 610 | else
|
---|
| 611 | ID += 2; // outside
|
---|
| 612 | }
|
---|
| 613 |
|
---|
| 614 | if (point.y >= mMin.y) {
|
---|
| 615 | if (point.y <= mMax.y)
|
---|
| 616 | ID += 3; // inside the two boundary planes
|
---|
| 617 | else
|
---|
| 618 | ID += 6; // outside
|
---|
| 619 | }
|
---|
| 620 |
|
---|
| 621 | if (point.x >= mMin.x) {
|
---|
| 622 | if (point.x <= mMax.x)
|
---|
| 623 | ID += 9; // inside the two boundary planes
|
---|
| 624 | else
|
---|
| 625 | ID += 18; // outside
|
---|
| 626 | }
|
---|
| 627 | return ID;
|
---|
| 628 | }
|
---|
| 629 |
|
---|
| 630 |
|
---|
| 631 |
|
---|
| 632 | // computes if a given box (smaller) lies at least in one
|
---|
| 633 | // projection whole in the box (larger) = this encompasses given
|
---|
| 634 | // ;-----;
|
---|
| 635 | // | ;-; |
|
---|
| 636 | // | '-' |
|
---|
| 637 | // '-----'
|
---|
| 638 | int
|
---|
| 639 | AxisAlignedBox3::IsPiercedByBox(const AxisAlignedBox3 &box, int &axis) const
|
---|
| 640 | {
|
---|
| 641 | // test on x-axis
|
---|
| 642 | if ( (mMax.x < box.mMin.x) ||
|
---|
| 643 | (mMin.x > box.mMax.x) )
|
---|
| 644 | return 0; // the boxes do not overlap at all at x-axis
|
---|
| 645 | if ( (box.mMin.y > mMin.y) &&
|
---|
| 646 | (box.mMax.y < mMax.y) &&
|
---|
| 647 | (box.mMin.z > mMin.z) &&
|
---|
| 648 | (box.mMax.z < mMax.z) ) {
|
---|
| 649 | axis = 0;
|
---|
| 650 | return 1; // the boxes overlap in x-axis
|
---|
| 651 | }
|
---|
| 652 | // test on y-axis
|
---|
| 653 | if ( (mMax.y < box.mMin.y) ||
|
---|
| 654 | (mMin.y > box.mMax.y) )
|
---|
| 655 | return 0; // the boxes do not overlap at all at y-axis
|
---|
| 656 | if ( (box.mMin.x > mMin.x) &&
|
---|
| 657 | (box.mMax.x < mMax.x) &&
|
---|
| 658 | (box.mMin.z > mMin.z) &&
|
---|
| 659 | (box.mMax.z < mMax.z) ) {
|
---|
| 660 | axis = 1;
|
---|
| 661 | return 1; // the boxes overlap in y-axis
|
---|
| 662 | }
|
---|
| 663 | // test on z-axis
|
---|
| 664 | if ( (mMax.z < box.mMin.z) ||
|
---|
| 665 | (mMin.z > box.mMax.z) )
|
---|
| 666 | return 0; // the boxes do not overlap at all at y-axis
|
---|
| 667 | if ( (box.mMin.x > mMin.x) &&
|
---|
| 668 | (box.mMax.x < mMax.x) &&
|
---|
| 669 | (box.mMin.y > mMin.y) &&
|
---|
| 670 | (box.mMax.y < mMax.y) ) {
|
---|
| 671 | axis = 2;
|
---|
| 672 | return 1; // the boxes overlap in z-axis
|
---|
| 673 | }
|
---|
| 674 | return 0;
|
---|
| 675 | }
|
---|
| 676 |
|
---|
| 677 | float
|
---|
| 678 | AxisAlignedBox3::SurfaceArea() const
|
---|
| 679 | {
|
---|
| 680 | Vector3 ext = mMax - mMin;
|
---|
[302] | 681 |
|
---|
[469] | 682 | return 2.0f * (ext.x * ext.y +
|
---|
[162] | 683 | ext.x * ext.z +
|
---|
| 684 | ext.y * ext.z);
|
---|
| 685 | }
|
---|
| 686 |
|
---|
| 687 | const int AxisAlignedBox3::bvertices[27][9] =
|
---|
| 688 | { // region number.. position
|
---|
| 689 | {5,1,3,2,6,4,-1,-1,-1}, // 0 .. x=0 y=0 z=0
|
---|
| 690 | {4,5,1,3,2,0,-1,-1,-1}, // 1 .. x=0 y=0 z=1
|
---|
| 691 | {4,5,7,3,2,0,-1,-1,-1}, // 2 .. x=0 y=0 z=2
|
---|
| 692 |
|
---|
| 693 | {0,1,3,2,6,4,-1,-1,-1}, // 3 .. x=0 y=1 z=0
|
---|
| 694 | {0,1,3,2,-1,-1,-1,-1,-1}, // 4 .. x=0 y=1 z=1
|
---|
| 695 | {1,5,7,3,2,0,-1,-1,-1}, // 5 .. x=0 y=1 z=2
|
---|
| 696 |
|
---|
| 697 | {0,1,3,7,6,4,-1,-1,-1}, // 6 .. x=0 y=2 z=0
|
---|
| 698 | {0,1,3,7,6,2,-1,-1,-1}, // 7 .. x=0 y=2 z=1
|
---|
| 699 | {1,5,7,6,2,0,-1,-1,-1}, // 8 .. x=0 y=2 z=2
|
---|
| 700 |
|
---|
| 701 | // the regions number <9,17>
|
---|
| 702 | {5,1,0,2,6,4,-1,-1,-1}, // 9 .. x=1 y=0 z=0
|
---|
| 703 | {5,1,0,4,-1,-1,-1,-1,-1}, // 10 .. x=1 y=0 z=1
|
---|
| 704 | {7,3,1,0,4,5,-1,-1,-1}, // 11 .. x=1 y=0 z=2
|
---|
| 705 |
|
---|
| 706 | {4,0,2,6,-1,-1,-1,-1,-1}, // 12 .. x=1 y=1 z=0
|
---|
| 707 | {0,2,3,1,5,4,6,7,-1}, // 13 .. x=1 y=1 z=1 .. inside the box
|
---|
| 708 | {1,5,7,3,-1,-1,-1,-1,-1}, // 14 .. x=1 y=1 z=2
|
---|
| 709 |
|
---|
| 710 | {4,0,2,3,7,6,-1,-1,-1}, // 15 .. x=1 y=2 z=0
|
---|
| 711 | {6,2,3,7,-1,-1,-1,-1,-1}, // 16 .. x=1 y=2 z=1
|
---|
| 712 | {1,5,7,6,2,3,-1,-1,-1}, // 17 .. x=1 y=2 z=2
|
---|
| 713 |
|
---|
| 714 | // the regions number <18,26>
|
---|
| 715 | {1,0,2,6,7,5,-1,-1,-1}, // 18 .. x=2 y=0 z=0
|
---|
| 716 | {1,0,4,6,7,5,-1,-1,-1}, // 19 .. x=2 y=0 z=1
|
---|
| 717 | {0,4,6,7,3,1,-1,-1,-1}, // 20 .. x=2 y=0 z=2
|
---|
| 718 |
|
---|
| 719 | {4,0,2,6,7,5,-1,-1,-1}, // 21 .. x=2 y=1 z=0
|
---|
| 720 | {5,4,6,7,-1,-1,-1,-1,-1}, // 22 .. x=2 y=1 z=1
|
---|
| 721 | {5,4,6,7,3,1,-1,-1,-1}, // 23 .. x=2 y=1 z=2
|
---|
| 722 |
|
---|
| 723 | {4,0,2,3,7,5,-1,-1,-1}, // 24 .. x=2 y=2 z=0
|
---|
| 724 | {5,4,6,2,3,7,-1,-1,-1}, // 25 .. x=2 y=2 z=1
|
---|
| 725 | {5,4,6,2,3,1,-1,-1,-1}, // 26 .. x=2 y=2 z=2
|
---|
| 726 | };
|
---|
| 727 |
|
---|
| 728 | // the visibility of boundary faces from a given region
|
---|
| 729 | // one to three triples: (axis, min_vertex, max_vertex), axis==-1(terminator)
|
---|
| 730 | const int AxisAlignedBox3::bfaces[27][10] =
|
---|
| 731 | { // region number .. position
|
---|
| 732 | {0,0,3,1,0,5,2,0,6,-1}, // 0 .. x=0 y=0 z=0
|
---|
| 733 | {0,0,3,1,0,5,-1,-1,-1,-1}, // 1 .. x=0 y=0 z=1
|
---|
| 734 | {0,0,3,1,0,5,2,1,7,-1}, // 2 .. x=0 y=0 z=2
|
---|
| 735 |
|
---|
| 736 | {0,0,3,2,0,6,-1,-1,-1,-1}, // 3 .. x=0 y=1 z=0
|
---|
| 737 | {0,0,3,-1,-1,-1,-1,-1,-1,-1},// 4 .. x=0 y=1 z=1
|
---|
| 738 | {0,0,3,2,1,7,-1,-1,-1,-1}, // 5 .. x=0 y=1 z=2
|
---|
| 739 |
|
---|
| 740 | {0,0,3,1,2,7,2,0,6,-1}, // 6 .. x=0 y=2 z=0
|
---|
| 741 | {0,0,3,1,2,7,-1,-1,-1,-1}, // 7 .. x=0 y=2 z=1
|
---|
| 742 | {0,0,3,1,2,7,2,1,7,-1}, // 8 .. x=0 y=2 z=2
|
---|
| 743 |
|
---|
| 744 | // the regions number <9,17>
|
---|
| 745 | {1,0,5,2,0,6,-1,-1,-1,-1}, // 9 .. x=1 y=0 z=0
|
---|
| 746 | {1,0,5,-1,-1,-1,-1,-1,-1,-1},// 10 .. x=1 y=0 z=1
|
---|
| 747 | {1,0,5,2,1,7,-1,-1,-1,-1}, // 11 .. x=1 y=0 z=2
|
---|
| 748 |
|
---|
| 749 | {2,0,6,-1,-1,-1,-1,-1,-1,-1},// 12 .. x=1 y=1 z=0
|
---|
| 750 | {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1},// 13 .. x=1 y=1 z=1 .. inside the box
|
---|
| 751 | {2,1,7,-1,-1,-1,-1,-1,-1,-1},// 14 .. x=1 y=1 z=2
|
---|
| 752 |
|
---|
| 753 | {1,2,7,2,0,6,-1,-1,-1,-1}, // 15 .. x=1 y=2 z=0
|
---|
| 754 | {1,2,7,-1,-1,-1,-1,-1,-1,-1},// 16 .. x=1 y=2 z=1
|
---|
| 755 | {1,2,7,2,1,7,-1,-1,-1,-1}, // 17 .. x=1 y=2 z=2
|
---|
| 756 |
|
---|
| 757 | // the region number <18,26>
|
---|
| 758 | {0,4,7,1,0,5,2,0,6,-1}, // 18 .. x=2 y=0 z=0
|
---|
| 759 | {0,4,7,1,0,5,-1,-1,-1,-1}, // 19 .. x=2 y=0 z=1
|
---|
| 760 | {0,4,7,1,0,5,2,1,7,-1}, // 20 .. x=2 y=0 z=2
|
---|
| 761 |
|
---|
| 762 | {0,4,7,2,0,6,-1,-1,-1,-1}, // 21 .. x=2 y=1 z=0
|
---|
| 763 | {0,4,7,-1,-1,-1,-1,-1,-1,-1},// 22 .. x=2 y=1 z=1
|
---|
| 764 | {0,4,7,2,1,7,-1,-1,-1,-1}, // 23 .. x=2 y=1 z=2
|
---|
| 765 |
|
---|
| 766 | {0,4,7,1,2,7,2,0,6,-1}, // 24 .. x=2 y=2 z=0
|
---|
| 767 | {0,4,7,1,2,7,-1,-1,-1,-1}, // 25 .. x=2 y=2 z=1
|
---|
| 768 | {0,4,7,1,2,7,2,1,7,-1}, // 26 .. x=2 y=2 z=2
|
---|
| 769 | };
|
---|
| 770 |
|
---|
| 771 | // the correct corners indexing from entry face to exit face
|
---|
| 772 | // first index determines entry face, second index exit face, and
|
---|
| 773 | // the two numbers (indx, inc) determines: ind = the index on the exit
|
---|
| 774 | // face, when starting from the vertex 0 on entry face, 'inc' is
|
---|
| 775 | // the increment when we go on entry face in order 0,1,2,3 to create
|
---|
| 776 | // convex shaft with the rectangle on exit face. That is, inc = -1 or 1.
|
---|
| 777 | const int AxisAlignedBox3::pairFaceRects[6][6][2] = {
|
---|
| 778 | { // entry face = 0
|
---|
| 779 | {-1,0}, // exit face 0 .. no meaning
|
---|
| 780 | {0,-1}, // 1
|
---|
| 781 | {0,-1}, // 2
|
---|
| 782 | {0,1}, // 3 .. opposite face
|
---|
| 783 | {3,1}, // 4
|
---|
| 784 | {1,1} // 5
|
---|
| 785 | },
|
---|
| 786 | { // entry face = 1
|
---|
| 787 | {0,-1}, // exit face 0
|
---|
| 788 | {-1,0}, // 1 .. no meaning
|
---|
| 789 | {0,-1}, // 2
|
---|
| 790 | {1,1}, // 3
|
---|
| 791 | {0,1}, // 4 .. opposite face
|
---|
| 792 | {3,1} // 5
|
---|
| 793 | },
|
---|
| 794 | { // entry face = 2
|
---|
| 795 | {0,-1}, // 0
|
---|
| 796 | {0,-1}, // 1
|
---|
| 797 | {-1,0}, // 2 .. no meaning
|
---|
| 798 | {3,1}, // 3
|
---|
| 799 | {1,1}, // 4
|
---|
| 800 | {0,1} // 5 .. opposite face
|
---|
| 801 | },
|
---|
| 802 | { // entry face = 3
|
---|
| 803 | {0,1}, // 0 .. opposite face
|
---|
| 804 | {3,-1}, // 1
|
---|
| 805 | {1,1}, // 2
|
---|
| 806 | {-1,0}, // 3 .. no meaning
|
---|
| 807 | {0,-1}, // 4
|
---|
| 808 | {0,-1} // 5
|
---|
| 809 | },
|
---|
| 810 | { // entry face = 4
|
---|
| 811 | {1,1}, // 0
|
---|
| 812 | {0,1}, // 1 .. opposite face
|
---|
| 813 | {3,1}, // 2
|
---|
| 814 | {0,-1}, // 3
|
---|
| 815 | {-1,0}, // 4 .. no meaning
|
---|
| 816 | {0,-1} // 5
|
---|
| 817 | },
|
---|
| 818 | { // entry face = 5
|
---|
| 819 | {3,-1}, // 0
|
---|
| 820 | {1,1}, // 1
|
---|
| 821 | {0,1}, // 2 .. opposite face
|
---|
| 822 | {0,-1}, // 3
|
---|
| 823 | {0,-1}, // 4
|
---|
| 824 | {-1,0} // 5 .. no meaning
|
---|
| 825 | }
|
---|
| 826 | };
|
---|
| 827 |
|
---|
| 828 |
|
---|
| 829 | // ------------------------------------------------------------
|
---|
| 830 | // The vertices that form CLOSEST points with respect to the region
|
---|
| 831 | // for all the regions possible, number of regions is 3^3 = 27,
|
---|
| 832 | // since two parallel sides of bbox forms three disjoint spaces.
|
---|
| 833 | // The vertices are given in anti-clockwise order, stopped by value 15,
|
---|
| 834 | // at most 8 points, at least 1 point.
|
---|
| 835 | // The table includes the closest 1/2/4/8 points, followed possibly
|
---|
| 836 | // by the set of coordinates that should be used for testing for
|
---|
| 837 | // the proximity queries. The coordinates to be tested are described by
|
---|
| 838 | // the pair (a,b), when a=0, we want to test min vector of the box,
|
---|
| 839 | // when a=1, we want to test max vector of the box
|
---|
| 840 | // b=0,1,2 corresponds to the axis (0=x,1=y,2=z)
|
---|
| 841 | // The sequence is ended by 15, number -1 is used as the separator
|
---|
| 842 | // between the vertices and coordinates.
|
---|
| 843 | const int
|
---|
| 844 | AxisAlignedBox3::cvertices[27][9] =
|
---|
| 845 | { // region number.. position
|
---|
| 846 | {0,15,15,15,15,15,15,15,15}, // 0 .. x=0 y=0 z=0 D one vertex
|
---|
| 847 | {0,1,-1,0,0,0,1,15,15}, // 1 .. x=0 y=0 z=1 D two vertices foll. by 2
|
---|
| 848 | {1,15,15,15,15,15,15,15,15}, // 2 .. x=0 y=0 z=2 D one vertex
|
---|
| 849 |
|
---|
| 850 | {0,2,-1,0,0,0,2,15,15}, // 3 .. x=0 y=1 z=0 D
|
---|
| 851 | {0,1,3,2,-1,0,0,15,15}, // 4 .. x=0 y=1 z=1 D
|
---|
| 852 | {1,3,-1,0,0,1,2,15,15}, // 5 .. x=0 y=1 z=2 D
|
---|
| 853 |
|
---|
| 854 | {2,15,15,15,15,15,15,15,15}, // 6 .. x=0 y=2 z=0 D
|
---|
| 855 | {2,3,-1,0,0,1,1,15,15}, // 7 .. x=0 y=2 z=1 D
|
---|
| 856 | {3,15,15,15,15,15,15,15,15}, // 8 .. x=0 y=2 z=2 D
|
---|
| 857 |
|
---|
| 858 | // the regions number <9,17>
|
---|
| 859 | {0,4,-1,0,1,0,2,15,15}, // 9 .. x=1 y=0 z=0 D
|
---|
| 860 | {5,1,0,4,-1,0,1,15,15}, // 10 .. x=1 y=0 z=1 D
|
---|
| 861 | {1,5,-1,0,1,1,2,15,15}, // 11 .. x=1 y=0 z=2 D
|
---|
| 862 |
|
---|
| 863 | {4,0,2,6,-1,0,2,15,15}, // 12 .. x=1 y=1 z=0 D
|
---|
| 864 | {0,2,3,1,5,4,6,7,15}, // 13 .. x=1 y=1 z=1 .. inside the box
|
---|
| 865 | {1,5,7,3,-1,1,2,15,15}, // 14 .. x=1 y=1 z=2 D
|
---|
| 866 |
|
---|
| 867 | {6,2,-1,0,2,1,1,15,15}, // 15 .. x=1 y=2 z=0 D
|
---|
| 868 | {6,2,3,7,-1,1,1,15,15}, // 16 .. x=1 y=2 z=1 D
|
---|
| 869 | {3,7,-1,1,1,1,2,15,15}, // 17 .. x=1 y=2 z=2 D
|
---|
| 870 |
|
---|
| 871 | // the regions number <18,26>
|
---|
| 872 | {4,15,15,15,15,15,15,15,15}, // 18 .. x=2 y=0 z=0 D
|
---|
| 873 | {4,5,-1,0,1,1,0,15,15}, // 19 .. x=2 y=0 z=1 D
|
---|
| 874 | {5,15,15,15,15,15,15,15,15}, // 20 .. x=2 y=0 z=2 D
|
---|
| 875 |
|
---|
| 876 | {4,6,-1,0,2,1,0,15,15}, // 21 .. x=2 y=1 z=0 D
|
---|
| 877 | {5,4,6,7,-1,1,0,15,15}, // 22 .. x=2 y=1 z=1 D
|
---|
| 878 | {7,5,-1,1,0,1,2,15,15}, // 23 .. x=2 y=1 z=2 D
|
---|
| 879 |
|
---|
| 880 | {6,15,15,15,15,15,15,15,15}, // 24 .. x=2 y=2 z=0 D
|
---|
| 881 | {6,7,-1,1,0,1,1,15,15}, // 25 .. x=2 y=2 z=1 D
|
---|
| 882 | {7,15,15,15,15,15,15,15,15}, // 26 .. x=2 y=2 z=2 D
|
---|
| 883 | };
|
---|
| 884 |
|
---|
| 885 | // Table for Sphere-AABB intersection based on the region knowledge
|
---|
| 886 | // Similar array to previous cvertices, but we omit the surfaces
|
---|
| 887 | // which are not necessary for testing. First are vertices,
|
---|
| 888 | // they are finished with -1. Second, there are indexes in
|
---|
| 889 | // the pair (a,b), when a=0, we want to test min vector of the box,
|
---|
| 890 | // when a=1, we want to test max vector of the box
|
---|
| 891 | // b=0,1,2 corresponds to the axis (0=x,1=y,2=z)
|
---|
| 892 | //
|
---|
| 893 | // So either we check the vertices or only the distance in specified
|
---|
| 894 | // dimensions. There are at all four possible cases:
|
---|
| 895 | //
|
---|
| 896 | // 1) we check one vertex - then sequence start with non-negative index
|
---|
| 897 | // and is finished with 15
|
---|
| 898 | // 2) we check two coordinates of min/max vector describe by the pair
|
---|
| 899 | // (a,b) .. a=min/max(0/1) b=x/y/z (0/1/2), sequence starts with 8
|
---|
| 900 | // and finishes with 15
|
---|
| 901 | // 3) we check only one coordinate of min/max, as for 2), sequence start
|
---|
| 902 | // with 9 and ends with 15
|
---|
| 903 | // 4) Position 13 - sphere is inside the box, intersection always exist
|
---|
| 904 | // the sequence start with 15 .. no further testing is necessary
|
---|
| 905 | // in this case
|
---|
| 906 | const int
|
---|
| 907 | AxisAlignedBox3::csvertices[27][6] =
|
---|
| 908 | { // region number.. position
|
---|
| 909 | {0,15,15,15,15,15}, // 0 .. x=0 y=0 z=0 D vertex only
|
---|
| 910 | {8,0,0,0,1,15}, // 1 .. x=0 y=0 z=1 D two coords.
|
---|
| 911 | {1,15,15,15,15,15}, // 2 .. x=0 y=0 z=2 D vertex only
|
---|
| 912 |
|
---|
| 913 | {8,0,0,0,2,15}, // 3 .. x=0 y=1 z=0 D two coords
|
---|
| 914 | {9,0,0,15,15,15}, // 4 .. x=0 y=1 z=1 D one coord
|
---|
| 915 | {8,0,0,1,2,15}, // 5 .. x=0 y=1 z=2 D two coords.
|
---|
| 916 |
|
---|
| 917 | {2,15,15,15,15,15}, // 6 .. x=0 y=2 z=0 D one vertex
|
---|
| 918 | {8,0,0,1,1,15}, // 7 .. x=0 y=2 z=1 D two coords
|
---|
| 919 | {3,15,15,15,15,15}, // 8 .. x=0 y=2 z=2 D one vertex
|
---|
| 920 |
|
---|
| 921 | // the regions number <9,17>
|
---|
| 922 | {8,0,1,0,2,15}, // 9 .. x=1 y=0 z=0 D two coords
|
---|
| 923 | {9,0,1,15,15,15}, // 10 .. x=1 y=0 z=1 D one coord
|
---|
| 924 | {8,0,1,1,2,15}, // 11 .. x=1 y=0 z=2 D two coords
|
---|
| 925 |
|
---|
| 926 | {9,0,2,15,15,15}, // 12 .. x=1 y=1 z=0 D one coord
|
---|
| 927 | {15,15,15,15,15,15}, // 13 .. x=1 y=1 z=1 inside the box, special case/value
|
---|
| 928 | {9,1,2,15,15,15}, // 14 .. x=1 y=1 z=2 D one corrd
|
---|
| 929 |
|
---|
| 930 | {8,0,2,1,1,15}, // 15 .. x=1 y=2 z=0 D two coords
|
---|
| 931 | {9,1,1,15,15}, // 16 .. x=1 y=2 z=1 D one coord
|
---|
| 932 | {8,1,1,1,2,15}, // 17 .. x=1 y=2 z=2 D two coords
|
---|
| 933 |
|
---|
| 934 | // the regions number <18,26>
|
---|
| 935 | {4,15,15,15,15,15}, // 18 .. x=2 y=0 z=0 D one vertex
|
---|
| 936 | {8,0,1,1,0,15}, // 19 .. x=2 y=0 z=1 D two coords
|
---|
| 937 | {5,15,15,15,15,15}, // 20 .. x=2 y=0 z=2 D one vertex
|
---|
| 938 |
|
---|
| 939 | {8,0,2,1,0,15}, // 21 .. x=2 y=1 z=0 D two coords
|
---|
| 940 | {9,1,0,15,15,15}, // 22 .. x=2 y=1 z=1 D one coord
|
---|
| 941 | {8,1,0,1,2,15}, // 23 .. x=2 y=1 z=2 D two coords
|
---|
| 942 |
|
---|
| 943 | {6,15,15,15,15,15}, // 24 .. x=2 y=2 z=0 D one vertex
|
---|
| 944 | {8,1,0,1,1,15}, // 25 .. x=2 y=2 z=1 D two coords
|
---|
| 945 | {7,15,15,15,15,15}, // 26 .. x=2 y=2 z=2 D one vertex
|
---|
| 946 | };
|
---|
| 947 |
|
---|
| 948 |
|
---|
| 949 | // The vertices that form all FARTHEST points with respect to the region
|
---|
| 950 | // for all the regions possible, number of regions is 3^3 = 27,
|
---|
| 951 | // since two parallel sides of bbox forms three disjoint spaces.
|
---|
| 952 | // The vertices are given in anti-clockwise order, stopped by value 15,
|
---|
| 953 | // at most 8 points, at least 1 point.
|
---|
| 954 | // For testing, if the AABB is whole in the sphere, it is enough
|
---|
| 955 | // to test only vertices, either 1,2,4, or 8.
|
---|
| 956 | const int
|
---|
| 957 | AxisAlignedBox3::fvertices[27][9] =
|
---|
| 958 | { // region number.. position
|
---|
| 959 | {7,15,15,15,15,15,15,15,15}, // 0 .. x=0 y=0 z=0 D
|
---|
| 960 | {6,7,15,15,15,15,15,15,15}, // 1 .. x=0 y=0 z=1 D
|
---|
| 961 | {6,15,15,15,15,15,15,15,15}, // 2 .. x=0 y=0 z=2 D
|
---|
| 962 |
|
---|
| 963 | {5,7,15,15,15,15,15,15,15}, // 3 .. x=0 y=1 z=0 D
|
---|
| 964 | {4,5,7,6,15,15,15,15,15}, // 4 .. x=0 y=1 z=1 D
|
---|
| 965 | {4,6,15,15,15,15,15,15,15}, // 5 .. x=0 y=1 z=2 D
|
---|
| 966 |
|
---|
| 967 | {5,15,15,15,15,15,15,15,15}, // 6 .. x=0 y=2 z=0 D
|
---|
| 968 | {4,5,15,15,15,15,15,15,15}, // 7 .. x=0 y=2 z=1 D
|
---|
| 969 | {4,15,15,15,15,15,15,15,15}, // 8 .. x=0 y=2 z=2 D
|
---|
| 970 |
|
---|
| 971 | // the regions number <9,17>
|
---|
| 972 | {3,7,15,15,15,15,15,15,15}, // 9 .. x=1 y=0 z=0 D
|
---|
| 973 | {7,3,2,6,15,15,15,15,15}, // 10 .. x=1 y=0 z=1 D
|
---|
| 974 | {2,6,15,15,15,15,15,15,15}, // 11 .. x=1 y=0 z=2 D
|
---|
| 975 |
|
---|
| 976 | {5,1,3,7,15,15,15,15,15}, // 12 .. x=1 y=1 z=0 D
|
---|
| 977 | {0,7,1,6,3,4,5,2,15}, // 13 .. x=1 y=1 z=1 .. inside the box
|
---|
| 978 | {0,4,6,2,15,15,15,15,15}, // 14 .. x=1 y=1 z=2 D
|
---|
| 979 |
|
---|
| 980 | {5,1,15,15,15,15,15,15,15}, // 15 .. x=1 y=2 z=0 D
|
---|
| 981 | {4,0,1,5,15,15,15,15,15}, // 16 .. x=1 y=2 z=1 D
|
---|
| 982 | {4,0,15,15,15,15,15,15,15}, // 17 .. x=1 y=2 z=2 D
|
---|
| 983 |
|
---|
| 984 | // the regions number <18,26>
|
---|
| 985 | {3,15,15,15,15,15,15,15,15}, // 18 .. x=2 y=0 z=0 D
|
---|
| 986 | {2,3,15,15,15,15,15,15,15}, // 19 .. x=2 y=0 z=1 D
|
---|
| 987 | {2,15,15,15,15,15,15,15,15}, // 20 .. x=2 y=0 z=2 D
|
---|
| 988 |
|
---|
| 989 | {1,3,15,15,15,15,15,15,15}, // 21 .. x=2 y=1 z=0 D
|
---|
| 990 | {1,0,2,3,15,15,15,15,15}, // 22 .. x=2 y=1 z=1 D
|
---|
| 991 | {2,0,15,15,15,15,15,15,15}, // 23 .. x=2 y=1 z=2 D
|
---|
| 992 |
|
---|
| 993 | {1,15,15,15,15,15,15,15,15}, // 24 .. x=2 y=2 z=0 D
|
---|
| 994 | {0,1,15,15,15,15,15,15,15}, // 25 .. x=2 y=2 z=1 D
|
---|
| 995 | {0,15,15,15,15,15,15,15,15}, // 26 .. x=2 y=2 z=2 D
|
---|
| 996 | };
|
---|
| 997 |
|
---|
| 998 | // Similar table as above, farthest points, but only the ones
|
---|
| 999 | // necessary for testing the intersection problem. If we do
|
---|
| 1000 | // not consider the case 13, center of the sphere is inside the
|
---|
| 1001 | // box, then we can always test at most 2 box vertices to say whether
|
---|
| 1002 | // the whole box is inside the sphere.
|
---|
| 1003 | // The number of vertices is minimized using some assumptions
|
---|
| 1004 | // about the ortogonality of vertices and sphere properties.
|
---|
| 1005 | const int
|
---|
| 1006 | AxisAlignedBox3::fsvertices[27][9] =
|
---|
| 1007 | { // region number.. position
|
---|
| 1008 | {7,15,15,15,15,15,15,15,15}, // 0 .. x=0 y=0 z=0 D 1 vertex
|
---|
| 1009 | {6,7,15,15,15,15,15,15,15}, // 1 .. x=0 y=0 z=1 D 2 vertices
|
---|
| 1010 | {6,15,15,15,15,15,15,15,15}, // 2 .. x=0 y=0 z=2 D 1 vertex
|
---|
| 1011 |
|
---|
| 1012 | {5,7,15,15,15,15,15,15,15}, // 3 .. x=0 y=1 z=0 D 2 vertices
|
---|
| 1013 | {4,7,15,5,6,15,15,15,15}, // 4 .. x=0 y=1 z=1 D 4/2 vertices
|
---|
| 1014 | {4,6,15,15,15,15,15,15,15}, // 5 .. x=0 y=1 z=2 D 2 vertices
|
---|
| 1015 |
|
---|
| 1016 | {5,15,15,15,15,15,15,15,15}, // 6 .. x=0 y=2 z=0 D 1 vertex
|
---|
| 1017 | {4,5,15,15,15,15,15,15,15}, // 7 .. x=0 y=2 z=1 D 2 vertices
|
---|
| 1018 | {4,15,15,15,15,15,15,15,15}, // 8 .. x=0 y=2 z=2 D 1 vertex
|
---|
| 1019 |
|
---|
| 1020 | // the regions number <9,17>
|
---|
| 1021 | {3,7,15,15,15,15,15,15,15}, // 9 .. x=1 y=0 z=0 D 2 vertices
|
---|
| 1022 | {7,2,15,3,6,15,15,15,15}, // 10 .. x=1 y=0 z=1 D 4/2 vertices
|
---|
| 1023 | {2,6,15,15,15,15,15,15,15}, // 11 .. x=1 y=0 z=2 D 2 vertices
|
---|
| 1024 |
|
---|
| 1025 | {5,3,15,1,7,15,15,15,15}, // 12 .. x=1 y=1 z=0 D 4/2 vertices
|
---|
| 1026 | {0,7,1,6,3,4,5,2,15}, // 13 .. x=1 y=1 z=1 .. inside the box
|
---|
| 1027 | {0,6,15,4,2,15,15,15,15}, // 14 .. x=1 y=1 z=2 D 4/2 vertices
|
---|
| 1028 |
|
---|
| 1029 | {5,1,15,15,15,15,15,15,15}, // 15 .. x=1 y=2 z=0 D 2 vertices
|
---|
| 1030 | {4,1,15,0,5,15,15,15,15}, // 16 .. x=1 y=2 z=1 D 4/2 vertices
|
---|
| 1031 | {4,0,15,15,15,15,15,15,15}, // 17 .. x=1 y=2 z=2 D 2 vertices
|
---|
| 1032 |
|
---|
| 1033 | // the regions number <18,26>
|
---|
| 1034 | {3,15,15,15,15,15,15,15,15}, // 18 .. x=2 y=0 z=0 D 1 vertex
|
---|
| 1035 | {2,3,15,15,15,15,15,15,15}, // 19 .. x=2 y=0 z=1 D 2 vertices
|
---|
| 1036 | {2,15,15,15,15,15,15,15,15}, // 20 .. x=2 y=0 z=2 D 1 vertex
|
---|
| 1037 |
|
---|
| 1038 | {1,3,15,15,15,15,15,15,15}, // 21 .. x=2 y=1 z=0 D 2 vertices
|
---|
| 1039 | {1,2,15,0,3,15,15,15,15}, // 22 .. x=2 y=1 z=1 D 4/2 vertices
|
---|
| 1040 | {2,0,15,15,15,15,15,15,15}, // 23 .. x=2 y=1 z=2 D 2 vertices
|
---|
| 1041 |
|
---|
| 1042 | {1,15,15,15,15,15,15,15,15}, // 24 .. x=2 y=2 z=0 D 1 vertex
|
---|
| 1043 | {0,1,15,15,15,15,15,15,15}, // 25 .. x=2 y=2 z=1 D 2 vertices
|
---|
| 1044 | {0,15,15,15,15,15,15,15,15}, // 26 .. x=2 y=2 z=2 D 1 vertex
|
---|
| 1045 | };
|
---|
| 1046 |
|
---|
[312] | 1047 |
|
---|
[162] | 1048 | // The fast computation of arctangent .. the maximal error is less
|
---|
| 1049 | // than 4.1 degrees, according to Graphics GEMSII, 1991, pages 389--391
|
---|
| 1050 | // Ron Capelli: "Fast approximation to the arctangent"
|
---|
| 1051 | float
|
---|
| 1052 | atan22(const float& y)
|
---|
| 1053 | {
|
---|
| 1054 | const float x = 1.0;
|
---|
| 1055 | const float c = (float)(M_PI * 0.25);
|
---|
| 1056 |
|
---|
| 1057 | if (y < 0.0) {
|
---|
| 1058 | if (y < -1.0)
|
---|
[469] | 1059 | return c * (-2.0f + x / y); // for angle in <-PI/2, -PI/4)
|
---|
[162] | 1060 | else
|
---|
| 1061 | return c * (y / x); // for angle in <-PI/4 , 0>
|
---|
| 1062 | }
|
---|
| 1063 | else {
|
---|
| 1064 | if (y > 1.0)
|
---|
[469] | 1065 | return c * (2.0f - x / y); // for angle in <PI/4, PI/2>
|
---|
[162] | 1066 | else
|
---|
| 1067 | return c * (y / x); // for angle in <0, PI/2>
|
---|
| 1068 | }
|
---|
| 1069 | }
|
---|
| 1070 |
|
---|
| 1071 |
|
---|
| 1072 | float
|
---|
| 1073 | AxisAlignedBox3::ProjectToSphereSA(const Vector3 &viewpoint, int *tcase) const
|
---|
| 1074 | {
|
---|
| 1075 | int id = GetRegionID(viewpoint);
|
---|
| 1076 | *tcase = id;
|
---|
| 1077 |
|
---|
| 1078 | // spherical projection .. SA represents solid angle
|
---|
| 1079 | if (id == 13) // .. inside the box
|
---|
| 1080 | return (float)(4.0*M_PI); // the whole sphere
|
---|
| 1081 | float SA = 0.0; // inital value
|
---|
| 1082 |
|
---|
| 1083 | int i = 0; // the pointer in the array of vertices
|
---|
| 1084 | while (bfaces[id][i] >= 0) {
|
---|
| 1085 | int axisO = bfaces[id][i++];
|
---|
| 1086 | int minvIdx = bfaces[id][i++];
|
---|
| 1087 | int maxvIdx = bfaces[id][i++];
|
---|
| 1088 | Vector3 vmin, vmax;
|
---|
| 1089 | GetVertex(minvIdx, vmin);
|
---|
| 1090 | GetVertex(maxvIdx, vmax);
|
---|
| 1091 | float h = fabs(vmin[axisO] - viewpoint[axisO]);
|
---|
| 1092 | int axis = (axisO + 1) % 3; // next axis
|
---|
| 1093 | float a = (vmin[axis] - viewpoint[axis]) / h; // minimum for v-range
|
---|
| 1094 | float b = (vmax[axis] - viewpoint[axis]) / h; // maximum for v-range
|
---|
| 1095 | //if (a > b) {
|
---|
| 1096 | // FATAL << "ProjectToSphereSA::Error a > b\n";
|
---|
| 1097 | // FATAL_ABORT;
|
---|
| 1098 | //}
|
---|
| 1099 | //if (vmin[axisO] != vmax[axisO]) {
|
---|
| 1100 | // FATAL << "ProjectToSphereSA::Error a-axis != b-axis\n";
|
---|
| 1101 | // FATAL_ABORT;
|
---|
| 1102 | //}
|
---|
| 1103 | axis = (axisO + 2) % 3; // next second axis
|
---|
| 1104 | float c = (vmin[axis] - viewpoint[axis]) / h; // minimum for u-range
|
---|
| 1105 | float d = (vmax[axis] - viewpoint[axis]) / h; // maximum for u-range
|
---|
| 1106 | //if (c > d) {
|
---|
| 1107 | // FATAL << "ProjectToSphereSA::Error c > d\n";
|
---|
| 1108 | // FATAL_ABORT;
|
---|
| 1109 | //}
|
---|
[469] | 1110 | SA +=atan22(d*b/sqrt(b*b + d*d + 1.0f)) - atan22(b*c/sqrt(b*b + c*c + 1.0f))
|
---|
| 1111 | - atan22(d*a/sqrt(a*a + d*d + 1.0f)) + atan22(a*c/sqrt(a*a + c*c + 1.0f));
|
---|
[162] | 1112 | }
|
---|
| 1113 |
|
---|
| 1114 | #if 0
|
---|
| 1115 | if ((SA > 2.0*M_PI) ||
|
---|
| 1116 | (SA < 0.0)) {
|
---|
| 1117 | FATAL << "The solid angle has strange value: ";
|
---|
| 1118 | FATAL << "SA = "<< SA << endl;
|
---|
| 1119 | FATAL_ABORT;
|
---|
| 1120 | }
|
---|
| 1121 | #endif
|
---|
| 1122 |
|
---|
| 1123 | return SA;
|
---|
| 1124 | }
|
---|
| 1125 |
|
---|
| 1126 | // Projects the box to a plane given a normal vector only and
|
---|
| 1127 | // computes the surface area of the projected silhouette
|
---|
| 1128 | // no clipping of the box is performed.
|
---|
| 1129 | float
|
---|
| 1130 | AxisAlignedBox3::ProjectToPlaneSA(const Vector3 &normal) const
|
---|
| 1131 | {
|
---|
| 1132 | Vector3 size = Size();
|
---|
| 1133 |
|
---|
| 1134 | // the surface area of the box to a yz-plane - perpendicular to x-axis
|
---|
| 1135 | float sax = size.y * size.z;
|
---|
| 1136 |
|
---|
| 1137 | // the surface area of the box to a zx-plane - perpendicular to y-axis
|
---|
| 1138 | float say = size.z * size.x;
|
---|
| 1139 |
|
---|
| 1140 | // the surface area of the box to a xy-plane - perpendicular to z-axis
|
---|
| 1141 | float saz = size.x * size.y;
|
---|
| 1142 |
|
---|
| 1143 | return sax * fabs(normal.x) + say * fabs(normal.y) + saz * fabs(normal.z);
|
---|
| 1144 | }
|
---|
| 1145 |
|
---|
| 1146 |
|
---|
| 1147 |
|
---|
| 1148 | // This definition allows to be a point when answering true
|
---|
| 1149 | bool
|
---|
| 1150 | AxisAlignedBox3::IsCorrectAndNotPoint() const
|
---|
| 1151 | {
|
---|
| 1152 | if ( (mMin.x > mMax.x) ||
|
---|
| 1153 | (mMin.y > mMax.y) ||
|
---|
| 1154 | (mMin.z > mMax.z) )
|
---|
| 1155 | return false; // box is not formed
|
---|
| 1156 |
|
---|
| 1157 | if ( (mMin.x == mMax.x) &&
|
---|
| 1158 | (mMin.y == mMax.y) &&
|
---|
| 1159 | (mMin.z == mMax.z) )
|
---|
| 1160 | return false; // degenerates to a point
|
---|
| 1161 |
|
---|
| 1162 | return true;
|
---|
| 1163 | }
|
---|
| 1164 |
|
---|
| 1165 | // This definition allows to be a point when answering true
|
---|
| 1166 | bool
|
---|
| 1167 | AxisAlignedBox3::IsPoint() const
|
---|
| 1168 | {
|
---|
| 1169 | if ( (mMin.x == mMax.x) &&
|
---|
| 1170 | (mMin.y == mMax.y) &&
|
---|
| 1171 | (mMin.z == mMax.z) )
|
---|
| 1172 | return true; // degenerates to a point
|
---|
| 1173 |
|
---|
| 1174 | return false;
|
---|
| 1175 | }
|
---|
| 1176 |
|
---|
| 1177 | // This definition requires shape of non-zero volume
|
---|
| 1178 | bool
|
---|
| 1179 | AxisAlignedBox3::IsSingularOrIncorrect() const
|
---|
| 1180 | {
|
---|
| 1181 | if ( (mMin.x >= mMax.x) ||
|
---|
| 1182 | (mMin.y >= mMax.y) ||
|
---|
| 1183 | (mMin.z >= mMax.z) )
|
---|
| 1184 | return true; // box is not formed
|
---|
| 1185 |
|
---|
| 1186 | return false; // has non-zero volume
|
---|
| 1187 | }
|
---|
| 1188 |
|
---|
| 1189 | // returns true, when the sphere specified by the origin and radius
|
---|
| 1190 | // fully contains the box
|
---|
| 1191 | bool
|
---|
| 1192 | AxisAlignedBox3::IsFullyContainedInSphere(const Vector3 ¢er, float rad) const
|
---|
| 1193 | {
|
---|
| 1194 | int region = GetRegionID(center);
|
---|
| 1195 | float rad2 = rad*rad;
|
---|
| 1196 |
|
---|
| 1197 | // vertex of the box
|
---|
| 1198 | Vector3 vertex;
|
---|
| 1199 |
|
---|
| 1200 | int i = 0;
|
---|
| 1201 | for (i = 0 ; ; i++) {
|
---|
| 1202 | int a = fsvertices[region][i];
|
---|
| 1203 | if (a == 15)
|
---|
| 1204 | return true; // if was not false untill now, it must be contained
|
---|
| 1205 |
|
---|
| 1206 | assert( (a>=0) && (a<8) );
|
---|
| 1207 |
|
---|
| 1208 | // normal vertex
|
---|
| 1209 | GetVertex(a, vertex);
|
---|
| 1210 |
|
---|
| 1211 | if (SqrMagnitude(vertex - center) > rad2)
|
---|
| 1212 | return false;
|
---|
| 1213 | } // for
|
---|
| 1214 |
|
---|
| 1215 | }
|
---|
| 1216 |
|
---|
| 1217 | // returns true, when the volume of the sphere and volume of the
|
---|
| 1218 | // axis aligned box has no intersection
|
---|
| 1219 | bool
|
---|
| 1220 | AxisAlignedBox3::HasNoIntersectionWithSphere(const Vector3 ¢er, float rad) const
|
---|
| 1221 | {
|
---|
| 1222 | int region = GetRegionID(center);
|
---|
| 1223 | float rad2 = rad*rad;
|
---|
| 1224 |
|
---|
| 1225 | // vertex of the box
|
---|
| 1226 | Vector3 vertex;
|
---|
| 1227 |
|
---|
| 1228 | switch (csvertices[region][0]) {
|
---|
| 1229 | case 8: {
|
---|
| 1230 | // test two coordinates described within the field
|
---|
| 1231 | int face = 3*csvertices[region][1] + csvertices[region][2];
|
---|
| 1232 | float dist = GetExtent(face) - center[csvertices[region][2]];
|
---|
| 1233 | dist *= dist;
|
---|
| 1234 | face = 3 * (csvertices[region][3]) + csvertices[region][4];
|
---|
| 1235 | float dist2 = GetExtent(face) - center[csvertices[region][4]];
|
---|
| 1236 | dist += (dist2 * dist2);
|
---|
| 1237 | if (dist > rad2)
|
---|
| 1238 | return true; // no intersection is possible
|
---|
| 1239 | }
|
---|
| 1240 | case 9: {
|
---|
| 1241 | // test one coordinate described within the field
|
---|
| 1242 | int face = 3*csvertices[region][1] + csvertices[region][2];
|
---|
| 1243 | float dist = fabs(GetExtent(face) - center[csvertices[region][2]]);
|
---|
| 1244 | if (dist > rad)
|
---|
| 1245 | return true; // no intersection is possible
|
---|
| 1246 | }
|
---|
| 1247 | case 15:
|
---|
| 1248 | return false; // box and sphere surely has intersection
|
---|
| 1249 | default: {
|
---|
| 1250 | // test using normal vertices
|
---|
| 1251 | assert( (csvertices[region][0]>=0) && (csvertices[region][0]<8) );
|
---|
| 1252 |
|
---|
| 1253 | // normal vertex
|
---|
| 1254 | GetVertex(csvertices[region][0], vertex);
|
---|
| 1255 |
|
---|
| 1256 | if (SqrMagnitude(vertex - center) > rad2)
|
---|
| 1257 | return true; // no intersectino is possible
|
---|
| 1258 | }
|
---|
| 1259 | } // switch
|
---|
| 1260 |
|
---|
| 1261 | return false; // partial or full containtment
|
---|
| 1262 | }
|
---|
| 1263 |
|
---|
| 1264 | #if 0
|
---|
| 1265 | // Given the sphere, determine the mutual position between the
|
---|
| 1266 | // sphere and box
|
---|
| 1267 |
|
---|
| 1268 | // SOME BUG IS INSIDE !!!! V.H. 25/4/2001
|
---|
| 1269 | int
|
---|
| 1270 | AxisAlignedBox3::MutualPositionWithSphere(const Vector3 ¢er, float rad) const
|
---|
| 1271 | {
|
---|
| 1272 | int region = GetRegionID(center);
|
---|
| 1273 | float rad2 = rad*rad;
|
---|
| 1274 |
|
---|
| 1275 | // vertex of the box
|
---|
| 1276 | Vector3 vertex;
|
---|
| 1277 |
|
---|
| 1278 | // first testing for full containtment - whether sphere fully
|
---|
| 1279 | // contains the box
|
---|
| 1280 | int countInside = 0; // how many points were found inside
|
---|
| 1281 |
|
---|
| 1282 | int i = 0;
|
---|
| 1283 | for (i = 0 ; ; i++) {
|
---|
| 1284 | int a = fsvertices[region][i];
|
---|
| 1285 | if (a == 15)
|
---|
| 1286 | return 1; // the sphere fully contain the box
|
---|
| 1287 |
|
---|
| 1288 | assert( (a>=0) && (a<8) );
|
---|
| 1289 |
|
---|
| 1290 | // normal vertex
|
---|
| 1291 | GetVertex(a, vertex);
|
---|
| 1292 |
|
---|
| 1293 | if (SqrMagnitude(vertex - center) <= rad2)
|
---|
| 1294 | countInside++; // the number of vertices inside the sphere
|
---|
| 1295 | else {
|
---|
| 1296 | if (countInside)
|
---|
| 1297 | return 0; // partiall overlap has been found
|
---|
| 1298 | // the sphere does not fully contain the box .. only way to break
|
---|
| 1299 | // this loop and go for other testing
|
---|
| 1300 | break;
|
---|
| 1301 | }
|
---|
| 1302 | } // for
|
---|
| 1303 |
|
---|
| 1304 | // now only box and sphere can partially overlap or no intersection
|
---|
| 1305 | switch (csvertices[region][0]) {
|
---|
| 1306 | case 8: {
|
---|
| 1307 | // test two coordinates described within the field
|
---|
| 1308 | int face = 3*csvertices[region][1] + csvertices[region][2];
|
---|
| 1309 | float dist = GetExtent(face) - center[csvertices[region][2]];
|
---|
| 1310 | dist *= dist;
|
---|
| 1311 | face = 3 * (csvertices[region][3]) + csvertices[region][4];
|
---|
| 1312 | float dist2 = GetExtent(face) - center[csvertices[region][4]];
|
---|
| 1313 | dist += (dist2 * dist2);
|
---|
| 1314 | if (dist > rad2 )
|
---|
| 1315 | return -1; // no intersection is possible
|
---|
| 1316 | }
|
---|
| 1317 | case 9: {
|
---|
| 1318 | // test one coordinate described within the field
|
---|
| 1319 | int face = 3*csvertices[region][1] + csvertices[region][2];
|
---|
| 1320 | float dist = fabs(GetExtent(face) - center[csvertices[region][2]]);
|
---|
| 1321 | if (dist > rad)
|
---|
| 1322 | return -1; // no intersection is possible
|
---|
| 1323 | }
|
---|
| 1324 | case 15:
|
---|
| 1325 | return 0 ; // partial overlap is now guaranteed
|
---|
| 1326 | default: {
|
---|
| 1327 | // test using normal vertices
|
---|
| 1328 | assert( (csvertices[region][0]>=0) && (csvertices[region][0]<8) );
|
---|
| 1329 |
|
---|
| 1330 | // normal vertex
|
---|
| 1331 | GetVertex(csvertices[region][0], vertex);
|
---|
| 1332 |
|
---|
| 1333 | if (SqrMagnitude(vertex - center) > rad2)
|
---|
| 1334 | return -1; // no intersection is possible
|
---|
| 1335 | }
|
---|
| 1336 | } // switch
|
---|
| 1337 |
|
---|
| 1338 | return 0; // partial intersection is guaranteed
|
---|
| 1339 | }
|
---|
| 1340 | #else
|
---|
| 1341 |
|
---|
| 1342 | // Some maybe smarter version, extendible easily to d-dimensional
|
---|
| 1343 | // space!
|
---|
| 1344 | // Given a sphere described by the center and radius,
|
---|
| 1345 | // the fullowing function returns:
|
---|
| 1346 | // -1 ... the sphere and the box are completely separate
|
---|
| 1347 | // 0 ... the sphere and the box only partially overlap
|
---|
| 1348 | // 1 ... the sphere contains fully the box
|
---|
| 1349 | // Note: the case when box fully contains the sphere is not reported
|
---|
| 1350 | // since it was not required.
|
---|
| 1351 | int
|
---|
| 1352 | AxisAlignedBox3::MutualPositionWithSphere(const Vector3 ¢er, float rad) const
|
---|
| 1353 | {
|
---|
| 1354 | //#define SPEED_UP
|
---|
| 1355 |
|
---|
| 1356 | #ifndef SPEED_UP
|
---|
| 1357 | // slow version, instructively written
|
---|
| 1358 | #if 0
|
---|
| 1359 | // does it make sense to test
|
---|
| 1360 | // checking the sides of the box for possible non-intersection
|
---|
| 1361 | if ( ((center.x + rad) < mMin.x) ||
|
---|
| 1362 | ((center.x - rad) > mMax.x) ||
|
---|
| 1363 | ((center.y + rad) < mMin.y) ||
|
---|
| 1364 | ((center.y - rad) > mMax.y) ||
|
---|
| 1365 | ((center.z + rad) < mMin.z) ||
|
---|
| 1366 | ((center.z - rad) > mMax.z) ) {
|
---|
| 1367 | // cout << "r ";
|
---|
| 1368 | return -1; // no overlap is possible
|
---|
| 1369 | }
|
---|
| 1370 | #endif
|
---|
| 1371 |
|
---|
| 1372 | // someoverlap is possible, check the distance of vertices
|
---|
| 1373 | rad = rad*rad;
|
---|
| 1374 | float sumMin = 0;
|
---|
| 1375 | // Try to minimize the function of a distance
|
---|
| 1376 | // from the sphere center
|
---|
| 1377 |
|
---|
| 1378 | // for x-axis
|
---|
| 1379 | float minSqrX = sqr(mMin.x - center.x);
|
---|
| 1380 | float maxSqrX = sqr(mMax.x - center.x);
|
---|
| 1381 | if (center.x < mMin.x)
|
---|
| 1382 | sumMin = minSqrX;
|
---|
| 1383 | else
|
---|
| 1384 | if (center.x > mMax.x)
|
---|
| 1385 | sumMin = maxSqrX;
|
---|
| 1386 |
|
---|
| 1387 | // for y-axis
|
---|
| 1388 | float minSqrY = sqr(mMin.y - center.y);
|
---|
| 1389 | float maxSqrY = sqr(mMax.y - center.y);
|
---|
| 1390 | if (center.y < mMin.y)
|
---|
| 1391 | sumMin += minSqrY;
|
---|
| 1392 | else
|
---|
| 1393 | if (center.y > mMax.y)
|
---|
| 1394 | sumMin += maxSqrY;
|
---|
| 1395 |
|
---|
| 1396 | // for z-axis
|
---|
| 1397 | float minSqrZ = sqr(mMin.z - center.z);
|
---|
| 1398 | float maxSqrZ = sqr(mMax.z - center.z);
|
---|
| 1399 | if (center.z < mMin.z)
|
---|
| 1400 | sumMin += minSqrZ;
|
---|
| 1401 | else
|
---|
| 1402 | if (center.z > mMax.z)
|
---|
| 1403 | sumMin += maxSqrZ;
|
---|
| 1404 |
|
---|
| 1405 | if (sumMin > rad)
|
---|
| 1406 | return -1; // no intersection between sphere and box
|
---|
| 1407 |
|
---|
| 1408 | // try to find out the maximum distance between the
|
---|
| 1409 | // sphere center and vertices
|
---|
| 1410 | float sumMax = 0;
|
---|
| 1411 |
|
---|
| 1412 | if (minSqrX > maxSqrX)
|
---|
| 1413 | sumMax = minSqrX;
|
---|
| 1414 | else
|
---|
| 1415 | sumMax = maxSqrX;
|
---|
| 1416 |
|
---|
| 1417 | if (minSqrY > maxSqrY)
|
---|
| 1418 | sumMax += minSqrY;
|
---|
| 1419 | else
|
---|
| 1420 | sumMax += maxSqrY;
|
---|
| 1421 |
|
---|
| 1422 | if (minSqrZ > maxSqrZ)
|
---|
| 1423 | sumMax += minSqrZ;
|
---|
| 1424 | else
|
---|
| 1425 | sumMax += maxSqrZ;
|
---|
| 1426 |
|
---|
| 1427 | // sumMin < rad
|
---|
| 1428 | if (sumMax < rad)
|
---|
| 1429 | return 1; // the sphere contains the box completely
|
---|
| 1430 |
|
---|
| 1431 | // partial intersection, part of the box is outside the sphere
|
---|
| 1432 | return 0;
|
---|
| 1433 | #else
|
---|
| 1434 |
|
---|
| 1435 | // Optimized version of the test
|
---|
| 1436 |
|
---|
| 1437 | #ifndef __VECTOR_HACK
|
---|
| 1438 | #error "__VECTOR_HACK for Vector3 was not defined"
|
---|
| 1439 | #endif
|
---|
| 1440 |
|
---|
| 1441 | // some overlap is possible, check the distance of vertices
|
---|
| 1442 | rad = rad*rad;
|
---|
| 1443 | float sumMin = 0;
|
---|
| 1444 | float sumMax = 0;
|
---|
| 1445 | // Try to minimize the function of a distance
|
---|
| 1446 | // from the sphere center
|
---|
| 1447 |
|
---|
| 1448 | const float *minp = &(min[0]);
|
---|
| 1449 | const float *maxp = &(max[0]);
|
---|
| 1450 | const float *pcenter = &(center[0]);
|
---|
| 1451 |
|
---|
| 1452 | // for x-axis
|
---|
| 1453 | for (int i = 0; i < 3; i++, minp++, maxp++, pcenter++) {
|
---|
| 1454 | float minsqr = sqr(*minp - *pcenter);
|
---|
| 1455 | float maxsqr = sqr(*maxp - *pcenter);
|
---|
| 1456 | if (*pcenter < *minp)
|
---|
| 1457 | sumMin += minsqr;
|
---|
| 1458 | else
|
---|
| 1459 | if (*pcenter > *maxp)
|
---|
| 1460 | sumMin += maxsqr;
|
---|
| 1461 | sumMax += (minsqr > maxsqr) ? minsqr : maxsqr;
|
---|
| 1462 | }
|
---|
| 1463 |
|
---|
| 1464 | if (sumMin > rad)
|
---|
| 1465 | return -1; // no intersection between sphere and box
|
---|
| 1466 |
|
---|
| 1467 | // sumMin < rad
|
---|
| 1468 | if (sumMax < rad)
|
---|
| 1469 | return 1; // the sphere contains the box completely
|
---|
| 1470 |
|
---|
| 1471 | // partial intersection, part of the box is outside the sphere
|
---|
| 1472 | return 0;
|
---|
| 1473 | #endif
|
---|
| 1474 | }
|
---|
| 1475 | #endif
|
---|
| 1476 |
|
---|
| 1477 | // Given the cube describe by the center and the half-sie,
|
---|
| 1478 | // determine the mutual position between the cube and the box
|
---|
| 1479 | int
|
---|
| 1480 | AxisAlignedBox3::MutualPositionWithCube(const Vector3 ¢er, float radius) const
|
---|
| 1481 | {
|
---|
| 1482 | // the cube is described by the center and the distance to the any face
|
---|
| 1483 | // along the axes
|
---|
| 1484 |
|
---|
| 1485 | // Note on efficiency!
|
---|
| 1486 | // Can be quite optimized using tables, but I do not have time
|
---|
| 1487 | // V.H. 18/11/2001
|
---|
| 1488 |
|
---|
| 1489 | AxisAlignedBox3 a =
|
---|
| 1490 | AxisAlignedBox3(Vector3(center.x - radius, center.y - radius, center.z - radius),
|
---|
| 1491 | Vector3(center.x + radius, center.y + radius, center.z + radius));
|
---|
| 1492 |
|
---|
| 1493 | if (a.Includes(*this))
|
---|
| 1494 | return 1; // cube contains the box
|
---|
| 1495 |
|
---|
| 1496 | if (OverlapS(a,*this))
|
---|
| 1497 | return 0; // cube partially overlap the box
|
---|
| 1498 |
|
---|
| 1499 | return -1; // completely separate
|
---|
| 1500 | }
|
---|
| 1501 |
|
---|
| 1502 | void
|
---|
| 1503 | AxisAlignedBox3::GetSqrDistances(const Vector3 &point,
|
---|
| 1504 | float &minDistance,
|
---|
| 1505 | float &maxDistance
|
---|
[209] | 1506 | ) const
|
---|
[162] | 1507 | {
|
---|
| 1508 |
|
---|
| 1509 |
|
---|
| 1510 | #ifndef __VECTOR_HACK
|
---|
| 1511 | #error "__VECTOR_HACK for Vector3 was not defined"
|
---|
| 1512 | #endif
|
---|
| 1513 |
|
---|
| 1514 | // some overlap is possible, check the distance of vertices
|
---|
| 1515 | float sumMin = 0;
|
---|
| 1516 | float sumMax = 0;
|
---|
| 1517 |
|
---|
| 1518 | // Try to minimize the function of a distance
|
---|
| 1519 | // from the sphere center
|
---|
| 1520 |
|
---|
| 1521 | const float *minp = &(mMin[0]);
|
---|
| 1522 | const float *maxp = &(mMax[0]);
|
---|
| 1523 | const float *pcenter = &(point[0]);
|
---|
| 1524 |
|
---|
| 1525 | // for x-axis
|
---|
| 1526 | for (int i = 0; i < 3; i++, minp++, maxp++, pcenter++) {
|
---|
| 1527 | float minsqr = sqr(*minp - *pcenter);
|
---|
| 1528 | float maxsqr = sqr(*maxp - *pcenter);
|
---|
| 1529 | if (*pcenter < *minp)
|
---|
| 1530 | sumMin += minsqr;
|
---|
| 1531 | else
|
---|
| 1532 | if (*pcenter > *maxp)
|
---|
| 1533 | sumMin += maxsqr;
|
---|
| 1534 | sumMax += (minsqr > maxsqr) ? minsqr : maxsqr;
|
---|
| 1535 | }
|
---|
| 1536 |
|
---|
| 1537 | minDistance = sumMin;
|
---|
| 1538 | maxDistance = sumMax;
|
---|
| 1539 | }
|
---|
| 1540 |
|
---|
| 1541 |
|
---|
[177] | 1542 | int
|
---|
| 1543 | AxisAlignedBox3::Side(const Plane3 &plane) const
|
---|
| 1544 | {
|
---|
| 1545 | Vector3 v;
|
---|
| 1546 | int i, m=3, M=-3, s;
|
---|
| 1547 |
|
---|
| 1548 | for (i=0;i<8;i++) {
|
---|
| 1549 | GetVertex(i, v);
|
---|
| 1550 | if((s = plane.Side(v)) < m)
|
---|
| 1551 | m=s;
|
---|
| 1552 | if(s > M)
|
---|
| 1553 | M=s;
|
---|
| 1554 | if (m && m==-M)
|
---|
| 1555 | return 0;
|
---|
| 1556 | }
|
---|
| 1557 |
|
---|
| 1558 | return (m == M) ? m : m + M;
|
---|
| 1559 | }
|
---|
[191] | 1560 |
|
---|
| 1561 | int
|
---|
| 1562 | AxisAlignedBox3::GetFaceVisibilityMask(const Rectangle3 &rectangle) const
|
---|
| 1563 | {
|
---|
| 1564 | int mask = 0;
|
---|
| 1565 | for (int i=0; i < 4; i++)
|
---|
| 1566 | mask |= GetFaceVisibilityMask(rectangle.mVertices[i]);
|
---|
| 1567 | return mask;
|
---|
| 1568 | }
|
---|
| 1569 |
|
---|
| 1570 | int
|
---|
| 1571 | AxisAlignedBox3::GetFaceVisibilityMask(const Vector3 &position) const {
|
---|
| 1572 |
|
---|
| 1573 | // assume that we are not inside the box
|
---|
| 1574 | int c=0;
|
---|
| 1575 |
|
---|
| 1576 | if (position.x<(mMin.x-Limits::Small))
|
---|
| 1577 | c|=1;
|
---|
| 1578 | else
|
---|
| 1579 | if (position.x>(mMax.x+Limits::Small))
|
---|
| 1580 | c|=2;
|
---|
| 1581 |
|
---|
| 1582 | if (position.y<(mMin.y-Limits::Small))
|
---|
| 1583 | c|=4;
|
---|
| 1584 | else
|
---|
| 1585 | if (position.y>(mMax.y+Limits::Small))
|
---|
| 1586 | c|=8;
|
---|
| 1587 |
|
---|
| 1588 | if (position.z<(mMin.z-Limits::Small))
|
---|
| 1589 | c|=16;
|
---|
| 1590 | else
|
---|
| 1591 | if (position.z>(mMax.z+Limits::Small))
|
---|
| 1592 | c|=32;
|
---|
| 1593 |
|
---|
| 1594 | return c;
|
---|
| 1595 | }
|
---|
| 1596 |
|
---|
| 1597 |
|
---|
| 1598 | Rectangle3
|
---|
| 1599 | AxisAlignedBox3::GetFace(const int face) const
|
---|
| 1600 | {
|
---|
| 1601 | Vector3 v[4];
|
---|
| 1602 | switch (face) {
|
---|
| 1603 |
|
---|
| 1604 | case 0:
|
---|
| 1605 | v[3].SetValue(mMin.x,mMin.y,mMin.z);
|
---|
| 1606 | v[2].SetValue(mMin.x,mMax.y,mMin.z);
|
---|
| 1607 | v[1].SetValue(mMin.x,mMax.y,mMax.z);
|
---|
| 1608 | v[0].SetValue(mMin.x,mMin.y,mMax.z);
|
---|
| 1609 | break;
|
---|
| 1610 |
|
---|
| 1611 | case 1:
|
---|
| 1612 | v[0].SetValue(mMax.x,mMin.y,mMin.z);
|
---|
| 1613 | v[1].SetValue(mMax.x,mMax.y,mMin.z);
|
---|
| 1614 | v[2].SetValue(mMax.x,mMax.y,mMax.z);
|
---|
| 1615 | v[3].SetValue(mMax.x,mMin.y,mMax.z);
|
---|
| 1616 | break;
|
---|
| 1617 |
|
---|
| 1618 | case 2:
|
---|
| 1619 | v[3].SetValue(mMin.x,mMin.y,mMin.z);
|
---|
| 1620 | v[2].SetValue(mMin.x,mMin.y,mMax.z);
|
---|
| 1621 | v[1].SetValue(mMax.x,mMin.y,mMax.z);
|
---|
| 1622 | v[0].SetValue(mMax.x,mMin.y,mMin.z);
|
---|
| 1623 | break;
|
---|
| 1624 |
|
---|
| 1625 | case 3:
|
---|
| 1626 | v[0].SetValue(mMin.x,mMax.y,mMin.z);
|
---|
| 1627 | v[1].SetValue(mMin.x,mMax.y,mMax.z);
|
---|
| 1628 | v[2].SetValue(mMax.x,mMax.y,mMax.z);
|
---|
| 1629 | v[3].SetValue(mMax.x,mMax.y,mMin.z);
|
---|
| 1630 | break;
|
---|
| 1631 |
|
---|
| 1632 | case 4:
|
---|
| 1633 | v[3].SetValue(mMin.x,mMin.y,mMin.z);
|
---|
| 1634 | v[2].SetValue(mMax.x,mMin.y,mMin.z);
|
---|
| 1635 | v[1].SetValue(mMax.x,mMax.y,mMin.z);
|
---|
| 1636 | v[0].SetValue(mMin.x,mMax.y,mMin.z);
|
---|
| 1637 | break;
|
---|
| 1638 |
|
---|
| 1639 | case 5:
|
---|
| 1640 | v[0].SetValue(mMin.x,mMin.y,mMax.z);
|
---|
| 1641 | v[1].SetValue(mMax.x,mMin.y,mMax.z);
|
---|
| 1642 | v[2].SetValue(mMax.x,mMax.y,mMax.z);
|
---|
| 1643 | v[3].SetValue(mMin.x,mMax.y,mMax.z);
|
---|
| 1644 | break;
|
---|
| 1645 | }
|
---|
| 1646 |
|
---|
| 1647 | return Rectangle3(v[0], v[1], v[2], v[3]);
|
---|
| 1648 | }
|
---|
[313] | 1649 |
|
---|
[318] | 1650 | struct VertexData
|
---|
| 1651 | {
|
---|
| 1652 | Vector3 mVertex;
|
---|
| 1653 | float mAngle;
|
---|
| 1654 |
|
---|
| 1655 | VertexData(Vector3 vtx, float angle): mVertex(vtx), mAngle(angle)
|
---|
| 1656 | {}
|
---|
| 1657 |
|
---|
| 1658 | bool operator<(const VertexData &b) const
|
---|
[372] | 1659 | {
|
---|
| 1660 | return mAngle > b.mAngle;
|
---|
[318] | 1661 | }
|
---|
| 1662 | };
|
---|
| 1663 |
|
---|
[312] | 1664 | // TODO: use a table to avoid normal and distance computations
|
---|
[448] | 1665 | Polygon3 *AxisAlignedBox3::CrossSection(const Plane3 &plane) const
|
---|
[372] | 1666 | {
|
---|
| 1667 | Polygon3 *planePoly = new Polygon3();
|
---|
| 1668 |
|
---|
| 1669 | int side[8];
|
---|
| 1670 | bool onFrontSide = false, onBackSide = false;
|
---|
| 1671 |
|
---|
| 1672 | Vector3 vtx;
|
---|
| 1673 | //-- compute classification of vertices
|
---|
| 1674 | for (int i = 0; i < 8; ++i)
|
---|
| 1675 | {
|
---|
| 1676 | GetVertex(i, vtx);
|
---|
| 1677 | side[i] = plane.Side(vtx);
|
---|
| 1678 | if (side[i] > 0)
|
---|
| 1679 | onFrontSide = true;
|
---|
| 1680 | else if (side[i] < 0)
|
---|
| 1681 | onBackSide = true;
|
---|
| 1682 | else // vertex coincident => push_back
|
---|
| 1683 | planePoly->mVertices.push_back(vtx);
|
---|
| 1684 | }
|
---|
| 1685 |
|
---|
| 1686 | //-- find intersections
|
---|
| 1687 | if (onFrontSide && onBackSide)
|
---|
| 1688 | {
|
---|
| 1689 | Vector3 ptA, ptB;
|
---|
| 1690 | for (int i = 0; i < 12; ++ i)
|
---|
| 1691 | {
|
---|
| 1692 | int aIdx, bIdx;
|
---|
| 1693 | GetEdge(i, aIdx, bIdx);
|
---|
| 1694 |
|
---|
| 1695 | ptA = GetVertex(aIdx);
|
---|
| 1696 | ptB = GetVertex(bIdx);
|
---|
| 1697 |
|
---|
| 1698 | int sideA = side[aIdx];
|
---|
| 1699 | int sideB = side[bIdx];
|
---|
| 1700 |
|
---|
| 1701 | if (((sideA > 0) && (sideB < 0)) || (sideA < 0) && (sideB > 0))
|
---|
| 1702 | planePoly->mVertices.push_back(plane.FindIntersection(ptA, ptB));
|
---|
| 1703 | }
|
---|
| 1704 | }
|
---|
| 1705 |
|
---|
| 1706 | // order intersectioins
|
---|
| 1707 | if (planePoly->mVertices.size() > 3)
|
---|
| 1708 | {
|
---|
| 1709 | Vector3 centerOfMass(0);
|
---|
| 1710 | int i;
|
---|
| 1711 | // compute center of mass
|
---|
| 1712 | for (i = 0; i < (int)planePoly->mVertices.size(); ++ i)
|
---|
| 1713 | centerOfMass += planePoly->mVertices[i];
|
---|
| 1714 |
|
---|
| 1715 | centerOfMass /= (float)planePoly->mVertices.size();
|
---|
| 1716 |
|
---|
| 1717 | vector<VertexData> vertexData;
|
---|
| 1718 |
|
---|
| 1719 | Vector3 refVec = Normalize(centerOfMass - planePoly->mVertices[0]);
|
---|
| 1720 |
|
---|
| 1721 | // compute angle to reference point
|
---|
| 1722 | for (i = 1; i < (int)planePoly->mVertices.size(); ++ i)
|
---|
| 1723 | {
|
---|
| 1724 | float angle =
|
---|
| 1725 | Angle(refVec, centerOfMass - planePoly->mVertices[i], plane.mNormal);
|
---|
| 1726 |
|
---|
| 1727 | vertexData.push_back(VertexData(planePoly->mVertices[i], angle));
|
---|
| 1728 | }
|
---|
| 1729 |
|
---|
| 1730 | std::stable_sort(vertexData.begin(), vertexData.end());
|
---|
| 1731 |
|
---|
| 1732 | // update vertices
|
---|
| 1733 | for (i = 1; i < (int)planePoly->mVertices.size(); ++ i)
|
---|
| 1734 | planePoly->mVertices[i] = vertexData[i - 1].mVertex;
|
---|
| 1735 | }
|
---|
| 1736 | else if (planePoly->mVertices.size() == 3)
|
---|
| 1737 | {
|
---|
| 1738 | // fix orientation if needed
|
---|
[318] | 1739 | if (DotProd(planePoly->GetNormal(), plane.mNormal) < 0)
|
---|
| 1740 | {
|
---|
| 1741 | Vector3 v = planePoly->mVertices[1];
|
---|
| 1742 | planePoly->mVertices[1] = planePoly->mVertices[2];
|
---|
| 1743 | planePoly->mVertices[2] = v;
|
---|
[372] | 1744 | }
|
---|
| 1745 | }
|
---|
| 1746 |
|
---|
| 1747 | return planePoly;
|
---|
| 1748 | }
|
---|
[448] | 1749 |
|
---|
[463] | 1750 | bool AxisAlignedBox3::GetRaySegment(const Ray &ray,
|
---|
| 1751 | float &minT,
|
---|
| 1752 | float &maxT) const
|
---|
| 1753 | {
|
---|
| 1754 | maxT = 1e6;
|
---|
| 1755 | minT = 0;
|
---|
| 1756 |
|
---|
| 1757 | // test with bounding box
|
---|
| 1758 | if (!GetMinMaxT(ray, &minT, &maxT))
|
---|
| 1759 | return false;
|
---|
| 1760 |
|
---|
| 1761 | if (minT < 0) // start ray from origin
|
---|
| 1762 | minT = 0;
|
---|
| 1763 |
|
---|
| 1764 | // bound ray or line segment
|
---|
| 1765 | if (//(ray.GetType() == Ray::LOCAL_RAY) &&
|
---|
| 1766 | !ray.intersections.empty() &&
|
---|
| 1767 | (ray.intersections[0].mT <= maxT))
|
---|
| 1768 | {
|
---|
| 1769 | maxT = ray.intersections[0].mT;
|
---|
| 1770 | }
|
---|
| 1771 |
|
---|
| 1772 | return true;
|
---|
| 1773 | }
|
---|
[482] | 1774 |
|
---|
| 1775 |
|
---|
[492] | 1776 | // Compute tmin and tmax for a ray, whenever required .. need not pierce box
|
---|
| 1777 | int
|
---|
| 1778 | AxisAlignedBox3::ComputeMinMaxT(const Vector3 &origin,
|
---|
| 1779 | const Vector3 &direction,
|
---|
| 1780 | float *tmin,
|
---|
| 1781 | float *tmax) const
|
---|
| 1782 | {
|
---|
| 1783 |
|
---|
| 1784 | register float minx, maxx;
|
---|
| 1785 |
|
---|
| 1786 |
|
---|
| 1787 | Vector3 invDirection;
|
---|
[503] | 1788 | const float eps = 1e-6f;
|
---|
| 1789 | const float invEps = 1e6f;
|
---|
[492] | 1790 |
|
---|
| 1791 | // it does change the ray direction very slightly,
|
---|
| 1792 | // but the size direction vector is not practically changed
|
---|
| 1793 |
|
---|
| 1794 | if (fabs(direction.x) < eps) {
|
---|
[503] | 1795 | if (direction.x < 0.0f)
|
---|
[492] | 1796 | invDirection.x = -invEps;
|
---|
| 1797 | else
|
---|
| 1798 | invDirection.x = invEps;
|
---|
| 1799 | }
|
---|
| 1800 | else
|
---|
[503] | 1801 | invDirection.x = 1.0f / direction.x;
|
---|
[492] | 1802 |
|
---|
| 1803 | if (fabs(direction.y) < eps) {
|
---|
| 1804 | if (direction.y < 0.0)
|
---|
| 1805 | invDirection.y = -invEps;
|
---|
| 1806 | else
|
---|
| 1807 | invDirection.y = invEps;
|
---|
| 1808 | }
|
---|
| 1809 | else
|
---|
[503] | 1810 | invDirection.y = 1.0f / direction.y;
|
---|
[492] | 1811 |
|
---|
| 1812 | if (fabs(direction.z) < eps) {
|
---|
[503] | 1813 | if (direction.z < 0.0f)
|
---|
[492] | 1814 | invDirection.z = -invEps;
|
---|
| 1815 | else
|
---|
| 1816 | invDirection.z = invEps;
|
---|
| 1817 | }
|
---|
| 1818 | else
|
---|
[503] | 1819 | invDirection.z = 1.0f / direction.z;
|
---|
[492] | 1820 |
|
---|
| 1821 |
|
---|
| 1822 |
|
---|
[503] | 1823 | if (fabs(direction.x) < 0.001f) {
|
---|
[492] | 1824 | if (mMin.x < origin.x && mMax.x > origin.x) {
|
---|
| 1825 | minx = -MAXFLOAT;
|
---|
| 1826 | maxx = MAXFLOAT;
|
---|
| 1827 | }
|
---|
| 1828 | else
|
---|
| 1829 | return 0;
|
---|
| 1830 | }
|
---|
| 1831 | else {
|
---|
| 1832 | float t1 = (mMin.x - origin.x) * invDirection.x;
|
---|
| 1833 | float t2 = (mMax.x - origin.x) * invDirection.x;
|
---|
| 1834 | if (t1 < t2) {
|
---|
| 1835 | minx = t1;
|
---|
| 1836 | maxx = t2;
|
---|
| 1837 | }
|
---|
| 1838 | else {
|
---|
| 1839 | minx = t2;
|
---|
| 1840 | maxx = t1;
|
---|
| 1841 | }
|
---|
| 1842 | // if (maxx < 0.0)
|
---|
| 1843 | // return 0;
|
---|
| 1844 | }
|
---|
| 1845 |
|
---|
| 1846 | *tmin = minx;
|
---|
| 1847 | *tmax = maxx;
|
---|
| 1848 |
|
---|
| 1849 | if (fabs(direction.y) < 0.001) {
|
---|
| 1850 | if (mMin.y < origin.y && mMax.y > origin.y) {
|
---|
| 1851 | minx = -MAXFLOAT;
|
---|
| 1852 | maxx = MAXFLOAT;
|
---|
| 1853 | }
|
---|
| 1854 | else
|
---|
| 1855 | return 0;
|
---|
| 1856 | }
|
---|
| 1857 | else {
|
---|
| 1858 | float t1 = (mMin.y - origin.y) * invDirection.y;
|
---|
| 1859 | float t2 = (mMax.y - origin.y) * invDirection.y;
|
---|
| 1860 | if (t1 < t2) {
|
---|
| 1861 | minx = t1;
|
---|
| 1862 | maxx = t2;
|
---|
| 1863 | }
|
---|
| 1864 | else {
|
---|
| 1865 | minx = t2;
|
---|
| 1866 | maxx = t1;
|
---|
| 1867 | }
|
---|
| 1868 | // if (maxx < 0.0)
|
---|
| 1869 | // return 0;
|
---|
| 1870 | }
|
---|
| 1871 |
|
---|
| 1872 | if (minx > *tmin)
|
---|
| 1873 | *tmin = minx;
|
---|
| 1874 | if (maxx < *tmax)
|
---|
| 1875 | *tmax = maxx;
|
---|
| 1876 |
|
---|
| 1877 | if (fabs(direction.z) < 0.001) {
|
---|
| 1878 | if (mMin.z < origin.z && mMax.z > origin.z) {
|
---|
| 1879 | minx = -MAXFLOAT;
|
---|
| 1880 | maxx = MAXFLOAT;
|
---|
| 1881 | }
|
---|
| 1882 | else
|
---|
| 1883 | return 0;
|
---|
| 1884 | }
|
---|
| 1885 | else {
|
---|
| 1886 | float t1 = (mMin.z - origin.z) * invDirection.z;
|
---|
| 1887 | float t2 = (mMax.z - origin.z) * invDirection.z;
|
---|
| 1888 | if (t1 < t2) {
|
---|
| 1889 | minx = t1;
|
---|
| 1890 | maxx = t2;
|
---|
| 1891 | }
|
---|
| 1892 | else {
|
---|
| 1893 | minx = t2;
|
---|
| 1894 | maxx = t1;
|
---|
| 1895 | }
|
---|
| 1896 | // if (maxx < 0.0)
|
---|
| 1897 | // return 0;
|
---|
| 1898 | }
|
---|
| 1899 |
|
---|
| 1900 | if (minx > *tmin)
|
---|
| 1901 | *tmin = minx;
|
---|
| 1902 | if (maxx < *tmax)
|
---|
| 1903 | *tmax = maxx;
|
---|
| 1904 |
|
---|
| 1905 | return 1; // yes, intersection was found
|
---|
| 1906 | }
|
---|
| 1907 |
|
---|
| 1908 |
|
---|
[482] | 1909 | bool AxisAlignedBox3::GetIntersectionFace(Rectangle3 &face,
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| 1910 | const AxisAlignedBox3 &neighbour) const
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| 1911 |
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| 1912 | {
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| 1913 | if (EpsilonEqual(mMin[0], neighbour.Max(0)))
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| 1914 | {
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| 1915 | float maxy = min(mMax.y, neighbour.mMax.y);
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| 1916 | float maxz = min(mMax.z, neighbour.mMax.z);
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| 1917 | float miny = max(mMin.y, neighbour.mMin.y);
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| 1918 | float minz = max(mMin.z, neighbour.mMin.z);
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| 1919 |
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| 1920 | face.mVertices[3].SetValue(mMin.x, miny, minz);
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| 1921 | face.mVertices[2].SetValue(mMin.x, maxy, minz);
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| 1922 | face.mVertices[1].SetValue(mMin.x, maxy, maxz);
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| 1923 | face.mVertices[0].SetValue(mMin.x, miny, maxz);
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| 1924 |
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| 1925 | return true;
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| 1926 | }
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| 1927 | if (EpsilonEqual(mMax[0], neighbour.Min(0)))
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| 1928 | {
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| 1929 | float maxy = min(mMax.y, neighbour.mMax.y);
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| 1930 | float maxz = min(mMax.z, neighbour.mMax.z);
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| 1931 | float miny = max(mMin.y, neighbour.mMin.y);
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| 1932 | float minz = max(mMin.z, neighbour.mMin.z);
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| 1933 |
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| 1934 | face.mVertices[0].SetValue(mMax.x, miny, minz);
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| 1935 | face.mVertices[1].SetValue(mMax.x, maxy, minz);
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| 1936 | face.mVertices[2].SetValue(mMax.x, maxy, maxz);
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| 1937 | face.mVertices[3].SetValue(mMax.x, miny, maxz);
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| 1938 |
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| 1939 | return true;
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| 1940 | }
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| 1941 | if (EpsilonEqual(mMin[1], neighbour.Max(1)))
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| 1942 | {
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| 1943 | float maxx = min(mMax.x, neighbour.mMax.x);
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| 1944 | float maxz = min(mMax.z, neighbour.mMax.z);
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| 1945 | float minx = max(mMin.x, neighbour.mMin.x);
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| 1946 | float minz = max(mMin.z, neighbour.mMin.z);
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| 1947 |
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| 1948 | face.mVertices[3].SetValue(minx, mMin.y, minz);
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| 1949 | face.mVertices[2].SetValue(minx, mMin.y, maxz);
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| 1950 | face.mVertices[1].SetValue(maxx, mMin.y, maxz);
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| 1951 | face.mVertices[0].SetValue(maxx, mMin.y, minz);
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| 1952 |
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| 1953 | return true;
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| 1954 | }
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| 1955 | if (EpsilonEqual(mMax[1], neighbour.Min(1)))
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| 1956 | {
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| 1957 | float maxx = min(mMax.x, neighbour.mMax.x);
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| 1958 | float maxz = min(mMax.z, neighbour.mMax.z);
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| 1959 | float minx = max(mMin.x, neighbour.mMin.x);
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| 1960 | float minz = max(mMin.z, neighbour.mMin.z);
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| 1961 |
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| 1962 | face.mVertices[0].SetValue(minx, mMax.y, minz);
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| 1963 | face.mVertices[1].SetValue(minx, mMax.y, maxz);
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| 1964 | face.mVertices[2].SetValue(maxx, mMax.y, maxz);
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| 1965 | face.mVertices[3].SetValue(maxx, mMax.y, minz);
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| 1966 |
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| 1967 | return true;
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| 1968 | }
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| 1969 | if (EpsilonEqual(mMin[2], neighbour.Max(2)))
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| 1970 | {
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| 1971 | float maxx = min(mMax.x, neighbour.mMax.x);
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| 1972 | float maxy = min(mMax.y, neighbour.mMax.y);
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| 1973 | float minx = max(mMin.x, neighbour.mMin.x);
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| 1974 | float miny = max(mMin.y, neighbour.mMin.y);
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| 1975 |
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| 1976 | face.mVertices[3].SetValue(minx, miny, mMin.z);
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| 1977 | face.mVertices[2].SetValue(maxx, miny, mMin.z);
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| 1978 | face.mVertices[1].SetValue(maxx, maxy, mMin.z);
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| 1979 | face.mVertices[0].SetValue(minx, maxy, mMin.z);
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| 1980 |
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| 1981 | return true;
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| 1982 | }
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| 1983 | if (EpsilonEqual(mMax[2], neighbour.Min(2)))
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| 1984 | {
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| 1985 | float maxx = min(mMax.x, neighbour.mMax.x);
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| 1986 | float maxy = min(mMax.y, neighbour.mMax.y);
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| 1987 | float minx = max(mMin.x, neighbour.mMin.x);
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| 1988 | float miny = max(mMin.y, neighbour.mMin.y);
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| 1989 |
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| 1990 | face.mVertices[0].SetValue(minx, miny, mMax.z);
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| 1991 | face.mVertices[1].SetValue(maxx, miny, mMax.z);
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| 1992 | face.mVertices[2].SetValue(maxx, maxy, mMax.z);
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| 1993 | face.mVertices[3].SetValue(minx, maxy, mMax.z);
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| 1994 |
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| 1995 | return true;
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| 1996 | }
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| 1997 |
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| 1998 | return false;
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| 1999 | }
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| 2000 |
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[486] | 2001 |
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| 2002 | void AxisAlignedBox3::AddBoxToMesh(Mesh *mesh) const
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| 2003 | {
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| 2004 | // add 6 vertices of the box
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| 2005 | int index = (int)mesh->mVertices.size();
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| 2006 |
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| 2007 | for (int i=0; i < 8; i++)
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| 2008 | {
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| 2009 | Vector3 v;
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| 2010 | GetVertex(i, v);
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| 2011 | mesh->mVertices.push_back(v);
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| 2012 | }
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| 2013 |
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| 2014 | mesh->AddFace(new Face(index + 0, index + 1, index + 3, index + 2) );
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| 2015 | mesh->AddFace(new Face(index + 0, index + 2, index + 6, index + 4) );
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| 2016 | mesh->AddFace(new Face(index + 4, index + 6, index + 7, index + 5) );
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| 2017 |
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| 2018 | mesh->AddFace(new Face(index + 3, index + 1, index + 5, index + 7) );
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| 2019 | mesh->AddFace(new Face(index + 0, index + 4, index + 5, index + 1) );
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| 2020 | mesh->AddFace(new Face(index + 2, index + 3, index + 7, index + 6) );
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| 2021 |
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| 2022 | }
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