333 lines
10 KiB
C++
333 lines
10 KiB
C++
// Copyright (C) 2002-2012 Nikolaus Gebhardt
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// This file is part of the "Irrlicht Engine".
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// For conditions of distribution and use, see copyright notice in irrlicht.h
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#ifndef __IRR_AABBOX_3D_H_INCLUDED__
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#define __IRR_AABBOX_3D_H_INCLUDED__
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#include "irrMath.h"
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#include "plane3d.h"
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#include "line3d.h"
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namespace irr
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{
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namespace core
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{
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//! Axis aligned bounding box in 3d dimensional space.
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/** Has some useful methods used with occlusion culling or clipping.
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*/
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template <class T>
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class aabbox3d
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{
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public:
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//! Default Constructor.
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aabbox3d(): MinEdge(-1,-1,-1), MaxEdge(1,1,1) {}
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//! Constructor with min edge and max edge.
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aabbox3d(const vector3d<T>& min, const vector3d<T>& max): MinEdge(min), MaxEdge(max) {}
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//! Constructor with only one point.
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aabbox3d(const vector3d<T>& init): MinEdge(init), MaxEdge(init) {}
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//! Constructor with min edge and max edge as single values, not vectors.
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aabbox3d(T minx, T miny, T minz, T maxx, T maxy, T maxz): MinEdge(minx, miny, minz), MaxEdge(maxx, maxy, maxz) {}
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// operators
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//! Equality operator
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/** \param other box to compare with.
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\return True if both boxes are equal, else false. */
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inline bool operator==(const aabbox3d<T>& other) const { return (MinEdge == other.MinEdge && other.MaxEdge == MaxEdge);}
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//! Inequality operator
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/** \param other box to compare with.
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\return True if both boxes are different, else false. */
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inline bool operator!=(const aabbox3d<T>& other) const { return !(MinEdge == other.MinEdge && other.MaxEdge == MaxEdge);}
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// functions
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//! Resets the bounding box to a one-point box.
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/** \param x X coord of the point.
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\param y Y coord of the point.
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\param z Z coord of the point. */
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void reset(T x, T y, T z)
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{
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MaxEdge.set(x,y,z);
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MinEdge = MaxEdge;
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}
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//! Resets the bounding box.
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/** \param initValue New box to set this one to. */
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void reset(const aabbox3d<T>& initValue)
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{
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*this = initValue;
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}
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//! Resets the bounding box to a one-point box.
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/** \param initValue New point. */
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void reset(const vector3d<T>& initValue)
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{
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MaxEdge = initValue;
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MinEdge = initValue;
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}
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//! Adds a point to the bounding box
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/** The box grows bigger, if point was outside of the box.
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\param p: Point to add into the box. */
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void addInternalPoint(const vector3d<T>& p)
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{
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addInternalPoint(p.X, p.Y, p.Z);
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}
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//! Adds another bounding box
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/** The box grows bigger, if the new box was outside of the box.
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\param b: Other bounding box to add into this box. */
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void addInternalBox(const aabbox3d<T>& b)
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{
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addInternalPoint(b.MaxEdge);
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addInternalPoint(b.MinEdge);
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}
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//! Adds a point to the bounding box
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/** The box grows bigger, if point is outside of the box.
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\param x X coordinate of the point to add to this box.
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\param y Y coordinate of the point to add to this box.
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\param z Z coordinate of the point to add to this box. */
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void addInternalPoint(T x, T y, T z)
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{
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if (x>MaxEdge.X) MaxEdge.X = x;
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if (y>MaxEdge.Y) MaxEdge.Y = y;
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if (z>MaxEdge.Z) MaxEdge.Z = z;
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if (x<MinEdge.X) MinEdge.X = x;
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if (y<MinEdge.Y) MinEdge.Y = y;
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if (z<MinEdge.Z) MinEdge.Z = z;
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}
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//! Get center of the bounding box
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/** \return Center of the bounding box. */
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vector3d<T> getCenter() const
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{
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return (MinEdge + MaxEdge) / 2;
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}
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//! Get extent of the box (maximal distance of two points in the box)
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/** \return Extent of the bounding box. */
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vector3d<T> getExtent() const
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{
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return MaxEdge - MinEdge;
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}
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//! Check if the box is empty.
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/** This means that there is no space between the min and max edge.
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\return True if box is empty, else false. */
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bool isEmpty() const
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{
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return MinEdge.equals ( MaxEdge );
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}
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//! Get the volume enclosed by the box in cubed units
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T getVolume() const
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{
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const vector3d<T> e = getExtent();
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return e.X * e.Y * e.Z;
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}
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//! Get the surface area of the box in squared units
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T getArea() const
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{
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const vector3d<T> e = getExtent();
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return 2*(e.X*e.Y + e.X*e.Z + e.Y*e.Z);
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}
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//! Stores all 8 edges of the box into an array
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/** \param edges: Pointer to array of 8 edges. */
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void getEdges(vector3d<T> *edges) const
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{
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const core::vector3d<T> middle = getCenter();
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const core::vector3d<T> diag = middle - MaxEdge;
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/*
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Edges are stored in this way:
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Hey, am I an ascii artist, or what? :) niko.
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/3--------/7
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/ | / |
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/ | / |
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1---------5 |
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| /2- - -|- -6
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| / | /
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|/ | /
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0---------4/
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*/
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edges[0].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
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edges[1].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
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edges[2].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
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edges[3].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
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edges[4].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
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edges[5].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
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edges[6].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
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edges[7].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
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}
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//! Repairs the box.
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/** Necessary if for example MinEdge and MaxEdge are swapped. */
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void repair()
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{
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T t;
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if (MinEdge.X > MaxEdge.X)
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{ t=MinEdge.X; MinEdge.X = MaxEdge.X; MaxEdge.X=t; }
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if (MinEdge.Y > MaxEdge.Y)
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{ t=MinEdge.Y; MinEdge.Y = MaxEdge.Y; MaxEdge.Y=t; }
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if (MinEdge.Z > MaxEdge.Z)
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{ t=MinEdge.Z; MinEdge.Z = MaxEdge.Z; MaxEdge.Z=t; }
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}
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//! Calculates a new interpolated bounding box.
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/** d=0 returns other, d=1 returns this, all other values blend between
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the two boxes.
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\param other Other box to interpolate between
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\param d Value between 0.0f and 1.0f.
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\return Interpolated box. */
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aabbox3d<T> getInterpolated(const aabbox3d<T>& other, f32 d) const
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{
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f32 inv = 1.0f - d;
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return aabbox3d<T>((other.MinEdge*inv) + (MinEdge*d),
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(other.MaxEdge*inv) + (MaxEdge*d));
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}
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//! Determines if a point is within this box.
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/** Border is included (IS part of the box)!
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\param p: Point to check.
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\return True if the point is within the box and false if not */
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bool isPointInside(const vector3d<T>& p) const
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{
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return (p.X >= MinEdge.X && p.X <= MaxEdge.X &&
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p.Y >= MinEdge.Y && p.Y <= MaxEdge.Y &&
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p.Z >= MinEdge.Z && p.Z <= MaxEdge.Z);
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}
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//! Determines if a point is within this box and not its borders.
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/** Border is excluded (NOT part of the box)!
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\param p: Point to check.
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\return True if the point is within the box and false if not. */
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bool isPointTotalInside(const vector3d<T>& p) const
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{
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return (p.X > MinEdge.X && p.X < MaxEdge.X &&
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p.Y > MinEdge.Y && p.Y < MaxEdge.Y &&
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p.Z > MinEdge.Z && p.Z < MaxEdge.Z);
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}
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//! Check if this box is completely inside the 'other' box.
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/** \param other: Other box to check against.
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\return True if this box is completly inside the other box,
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otherwise false. */
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bool isFullInside(const aabbox3d<T>& other) const
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{
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return (MinEdge.X >= other.MinEdge.X && MinEdge.Y >= other.MinEdge.Y && MinEdge.Z >= other.MinEdge.Z &&
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MaxEdge.X <= other.MaxEdge.X && MaxEdge.Y <= other.MaxEdge.Y && MaxEdge.Z <= other.MaxEdge.Z);
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}
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//! Determines if the axis-aligned box intersects with another axis-aligned box.
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/** \param other: Other box to check a intersection with.
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\return True if there is an intersection with the other box,
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otherwise false. */
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bool intersectsWithBox(const aabbox3d<T>& other) const
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{
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return (MinEdge.X <= other.MaxEdge.X && MinEdge.Y <= other.MaxEdge.Y && MinEdge.Z <= other.MaxEdge.Z &&
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MaxEdge.X >= other.MinEdge.X && MaxEdge.Y >= other.MinEdge.Y && MaxEdge.Z >= other.MinEdge.Z);
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}
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//! Tests if the box intersects with a line
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/** \param line: Line to test intersection with.
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\return True if there is an intersection , else false. */
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bool intersectsWithLine(const line3d<T>& line) const
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{
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return intersectsWithLine(line.getMiddle(), line.getVector().normalize(),
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(T)(line.getLength() * 0.5));
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}
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//! Tests if the box intersects with a line
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/** \param linemiddle Center of the line.
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\param linevect Vector of the line.
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\param halflength Half length of the line.
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\return True if there is an intersection, else false. */
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bool intersectsWithLine(const vector3d<T>& linemiddle,
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const vector3d<T>& linevect, T halflength) const
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{
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const vector3d<T> e = getExtent() * (T)0.5;
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const vector3d<T> t = getCenter() - linemiddle;
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if ((fabs(t.X) > e.X + halflength * fabs(linevect.X)) ||
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(fabs(t.Y) > e.Y + halflength * fabs(linevect.Y)) ||
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(fabs(t.Z) > e.Z + halflength * fabs(linevect.Z)) )
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return false;
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T r = e.Y * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.Y);
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if (fabs(t.Y*linevect.Z - t.Z*linevect.Y) > r )
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return false;
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r = e.X * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.X);
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if (fabs(t.Z*linevect.X - t.X*linevect.Z) > r )
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return false;
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r = e.X * (T)fabs(linevect.Y) + e.Y * (T)fabs(linevect.X);
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if (fabs(t.X*linevect.Y - t.Y*linevect.X) > r)
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return false;
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return true;
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}
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//! Classifies a relation with a plane.
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/** \param plane Plane to classify relation to.
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\return Returns ISREL3D_FRONT if the box is in front of the plane,
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ISREL3D_BACK if the box is behind the plane, and
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ISREL3D_CLIPPED if it is on both sides of the plane. */
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EIntersectionRelation3D classifyPlaneRelation(const plane3d<T>& plane) const
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{
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vector3d<T> nearPoint(MaxEdge);
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vector3d<T> farPoint(MinEdge);
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if (plane.Normal.X > (T)0)
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{
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nearPoint.X = MinEdge.X;
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farPoint.X = MaxEdge.X;
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}
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if (plane.Normal.Y > (T)0)
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{
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nearPoint.Y = MinEdge.Y;
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farPoint.Y = MaxEdge.Y;
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}
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if (plane.Normal.Z > (T)0)
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{
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nearPoint.Z = MinEdge.Z;
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farPoint.Z = MaxEdge.Z;
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}
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if (plane.Normal.dotProduct(nearPoint) + plane.D > (T)0)
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return ISREL3D_FRONT;
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if (plane.Normal.dotProduct(farPoint) + plane.D > (T)0)
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return ISREL3D_CLIPPED;
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return ISREL3D_BACK;
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}
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//! The near edge
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vector3d<T> MinEdge;
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//! The far edge
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vector3d<T> MaxEdge;
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};
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//! Typedef for a f32 3d bounding box.
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typedef aabbox3d<f32> aabbox3df;
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//! Typedef for an integer 3d bounding box.
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typedef aabbox3d<s32> aabbox3di;
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} // end namespace core
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} // end namespace irr
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#endif
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