Irrlicht Engine: aabbox3d.h Source File

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# aabbox3d.h

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    00001 // Copyright (C) 2002-2010 Nikolaus Gebhardt
    00002 // This file is part of the "Irrlicht Engine".
    00003 // For conditions of distribution and use, see copyright notice in irrlicht.h
    00004
    00005 #ifndef __IRR_AABBOX_3D_H_INCLUDED__
    00006 #define __IRR_AABBOX_3D_H_INCLUDED__
    00007
    00008 #include "irrMath.h"
    00009 #include "plane3d.h"
    00010 #include "line3d.h"
    00011
    00012 namespace irr
    00013 {
    00014 namespace core
    00015 {
    00016
    00018
    00020 template <class T>
    00021 class aabbox3d
    00022 {
    00023         public:
    00024
    00026                 aabbox3d(): MinEdge(-1,-1,-1), MaxEdge(1,1,1) {}
    00028                 aabbox3d(const vector3d<T>& min, const vector3d<T>& max): MinEdge(min), MaxEdge(max) {}
    00030                 aabbox3d(const vector3d<T>& init): MinEdge(init), MaxEdge(init) {}
    00032                 aabbox3d(T minx, T miny, T minz, T maxx, T maxy, T maxz): MinEdge(minx, miny, minz), MaxEdge(maxx, maxy, maxz) {}
    00033
    00034                 // operators
    00036
    00038                 inline bool operator==(const aabbox3d<T>& other) const { return (MinEdge == other.MinEdge && other.MaxEdge == MaxEdge);}
    00040
    00042                 inline bool operator!=(const aabbox3d<T>& other) const { return !(MinEdge == other.MinEdge && other.MaxEdge == MaxEdge);}
    00043
    00044                 // functions
    00045
    00047
    00050                 void reset(T x, T y, T z)
    00051                 {
    00052                         MaxEdge.set(x,y,z);
    00053                         MinEdge = MaxEdge;
    00054                 }
    00055
    00057
    00058                 void reset(const aabbox3d<T>& initValue)
    00059                 {
    00060                         *this = initValue;
    00061                 }
    00062
    00064
    00065                 void reset(const vector3d<T>& initValue)
    00066                 {
    00067                         MaxEdge = initValue;
    00068                         MinEdge = initValue;
    00069                 }
    00070
    00072
    00074                 void addInternalPoint(const vector3d<T>& p)
    00075                 {
    00076                         addInternalPoint(p.X, p.Y, p.Z);
    00077                 }
    00078
    00080
    00082                 void addInternalBox(const aabbox3d<T>& b)
    00083                 {
    00084                         addInternalPoint(b.MaxEdge);
    00085                         addInternalPoint(b.MinEdge);
    00086                 }
    00087
    00089
    00093                 void addInternalPoint(T x, T y, T z)
    00094                 {
    00095                         if (x>MaxEdge.X) MaxEdge.X = x;
    00096                         if (y>MaxEdge.Y) MaxEdge.Y = y;
    00097                         if (z>MaxEdge.Z) MaxEdge.Z = z;
    00098
    00099                         if (x<MinEdge.X) MinEdge.X = x;
    00100                         if (y<MinEdge.Y) MinEdge.Y = y;
    00101                         if (z<MinEdge.Z) MinEdge.Z = z;
    00102                 }
    00103
    00105
    00106                 vector3d<T> getCenter() const
    00107                 {
    00108                         return (MinEdge + MaxEdge) / 2;
    00109                 }
    00110
    00112
    00113                 vector3d<T> getExtent() const
    00114                 {
    00115                         return MaxEdge - MinEdge;
    00116                 }
    00117
    00119
    00121                 bool isEmpty() const
    00122                 {
    00123                         return MinEdge.equals ( MaxEdge );
    00124                 }
    00125
    00127                 T getVolume() const
    00128                 {
    00129                         const vector3d<T> e = getExtent();
    00130                         return e.X * e.Y * e.Z;
    00131                 }
    00132
    00134                 T getArea() const
    00135                 {
    00136                         const vector3d<T> e = getExtent();
    00137                         return 2*(e.X*e.Y + e.X*e.Z + e.Y*e.Z);
    00138                 }
    00139
    00141
    00142                 void getEdges(vector3d<T> *edges) const
    00143                 {
    00144                         const core::vector3d<T> middle = getCenter();
    00145                         const core::vector3d<T> diag = middle - MaxEdge;
    00146
    00147                         /*
    00148                         Edges are stored in this way:
    00149                         Hey, am I an ascii artist, or what? :) niko.
    00150                    /3--------/7
    00151                   / |       / |
    00152                  /  |      /  |
    00153                 1---------5   |
    00154                 |  /2- - -|- -6
    00155                 | /       |  /
    00156                 |/        | /
    00157                 0---------4/
    00158                         */
    00159
    00160                         edges[0].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
    00161                         edges[1].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
    00162                         edges[2].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
    00163                         edges[3].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
    00164                         edges[4].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
    00165                         edges[5].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
    00166                         edges[6].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
    00167                         edges[7].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
    00168                 }
    00169
    00171
    00172                 void repair()
    00173                 {
    00174                         T t;
    00175
    00176                         if (MinEdge.X > MaxEdge.X)
    00177                                 { t=MinEdge.X; MinEdge.X = MaxEdge.X; MaxEdge.X=t; }
    00178                         if (MinEdge.Y > MaxEdge.Y)
    00179                                 { t=MinEdge.Y; MinEdge.Y = MaxEdge.Y; MaxEdge.Y=t; }
    00180                         if (MinEdge.Z > MaxEdge.Z)
    00181                                 { t=MinEdge.Z; MinEdge.Z = MaxEdge.Z; MaxEdge.Z=t; }
    00182                 }
    00183
    00185
    00190                 aabbox3d<T> getInterpolated(const aabbox3d<T>& other, f32 d) const
    00191                 {
    00192                         f32 inv = 1.0f - d;
    00193                         return aabbox3d<T>((other.MinEdge*inv) + (MinEdge*d),
    00194                                 (other.MaxEdge*inv) + (MaxEdge*d));
    00195                 }
    00196
    00198
    00201                 bool isPointInside(const vector3d<T>& p) const
    00202                 {
    00203                         return (p.X >= MinEdge.X && p.X <= MaxEdge.X &&
    00204                                 p.Y >= MinEdge.Y && p.Y <= MaxEdge.Y &&
    00205                                 p.Z >= MinEdge.Z && p.Z <= MaxEdge.Z);
    00206                 }
    00207
    00209
    00212                 bool isPointTotalInside(const vector3d<T>& p) const
    00213                 {
    00214                         return (p.X > MinEdge.X && p.X < MaxEdge.X &&
    00215                                 p.Y > MinEdge.Y && p.Y < MaxEdge.Y &&
    00216                                 p.Z > MinEdge.Z && p.Z < MaxEdge.Z);
    00217                 }
    00218
    00220
    00223                 bool isFullInside(const aabbox3d<T>& other) const
    00224                 {
    00225                         return (MinEdge.X >= other.MinEdge.X && MinEdge.Y >= other.MinEdge.Y && MinEdge.Z >= other.MinEdge.Z &&
    00226                                 MaxEdge.X <= other.MaxEdge.X && MaxEdge.Y <= other.MaxEdge.Y && MaxEdge.Z <= other.MaxEdge.Z);
    00227                 }
    00228
    00230
    00233                 bool intersectsWithBox(const aabbox3d<T>& other) const
    00234                 {
    00235                         return (MinEdge.X <= other.MaxEdge.X && MinEdge.Y <= other.MaxEdge.Y && MinEdge.Z <= other.MaxEdge.Z &&
    00236                                 MaxEdge.X >= other.MinEdge.X && MaxEdge.Y >= other.MinEdge.Y && MaxEdge.Z >= other.MinEdge.Z);
    00237                 }
    00238
    00240
    00242                 bool intersectsWithLine(const line3d<T>& line) const
    00243                 {
    00244                         return intersectsWithLine(line.getMiddle(), line.getVector().normalize(),
    00245                                         (T)(line.getLength() * 0.5));
    00246                 }
    00247
    00249
    00253                 bool intersectsWithLine(const vector3d<T>& linemiddle,
    00254                                         const vector3d<T>& linevect, T halflength) const
    00255                 {
    00256                         const vector3d<T> e = getExtent() * (T)0.5;
    00257                         const vector3d<T> t = getCenter() - linemiddle;
    00258
    00259                         if ((fabs(t.X) > e.X + halflength * fabs(linevect.X)) ||
    00260                                 (fabs(t.Y) > e.Y + halflength * fabs(linevect.Y)) ||
    00261                                 (fabs(t.Z) > e.Z + halflength * fabs(linevect.Z)) )
    00262                                 return false;
    00263
    00264                         T r = e.Y * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.Y);
    00265                         if (fabs(t.Y*linevect.Z - t.Z*linevect.Y) > r )
    00266                                 return false;
    00267
    00268                         r = e.X * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.X);
    00269                         if (fabs(t.Z*linevect.X - t.X*linevect.Z) > r )
    00270                                 return false;
    00271
    00272                         r = e.X * (T)fabs(linevect.Y) + e.Y * (T)fabs(linevect.X);
    00273                         if (fabs(t.X*linevect.Y - t.Y*linevect.X) > r)
    00274                                 return false;
    00275
    00276                         return true;
    00277                 }
    00278
    00280
    00284                 EIntersectionRelation3D classifyPlaneRelation(const plane3d<T>& plane) const
    00285                 {
    00286                         vector3d<T> nearPoint(MaxEdge);
    00287                         vector3d<T> farPoint(MinEdge);
    00288
    00289                         if (plane.Normal.X > (T)0)
    00290                         {
    00291                                 nearPoint.X = MinEdge.X;
    00292                                 farPoint.X = MaxEdge.X;
    00293                         }
    00294
    00295                         if (plane.Normal.Y > (T)0)
    00296                         {
    00297                                 nearPoint.Y = MinEdge.Y;
    00298                                 farPoint.Y = MaxEdge.Y;
    00299                         }
    00300
    00301                         if (plane.Normal.Z > (T)0)
    00302                         {
    00303                                 nearPoint.Z = MinEdge.Z;
    00304                                 farPoint.Z = MaxEdge.Z;
    00305                         }
    00306
    00307                         if (plane.Normal.dotProduct(nearPoint) + plane.D > (T)0)
    00308                                 return ISREL3D_FRONT;
    00309
    00310                         if (plane.Normal.dotProduct(farPoint) + plane.D > (T)0)
    00311                                 return ISREL3D_CLIPPED;
    00312
    00313                         return ISREL3D_BACK;
    00314                 }
    00315
    00317                 vector3d<T> MinEdge;
    00318
    00320                 vector3d<T> MaxEdge;
    00321 };
    00322
    00324         typedef aabbox3d<f32> aabbox3df;
    00326         typedef aabbox3d<s32> aabbox3di;
    00327
    00328 } // end namespace core
    00329 } // end namespace irr
    00330
    00331 #endif
    00332

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