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00001 // Copyright (C) 2002-2012 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 +