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authordan miller2007-10-19 05:22:23 +0000
committerdan miller2007-10-19 05:22:23 +0000
commit1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 (patch)
tree51bcae7a1b8381a6bf6fd8025a7de1e30fe0045d /libraries/ode-0.9/OPCODE/Ice/IceBoundingSphere.h
parentone more for the gipper (diff)
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trying to fix my screwup, please hold on
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diff --git a/libraries/ode-0.9/OPCODE/Ice/IceBoundingSphere.h b/libraries/ode-0.9/OPCODE/Ice/IceBoundingSphere.h
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1///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2/**
3 * Contains code to compute the minimal bounding sphere.
4 * \file IceBoundingSphere.h
5 * \author Pierre Terdiman
6 * \date January, 29, 2000
7 */
8///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
9
10///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
11// Include Guard
12#ifndef __ICEBOUNDINGSPHERE_H__
13#define __ICEBOUNDINGSPHERE_H__
14
15 enum BSphereMethod
16 {
17 BS_NONE,
18 BS_GEMS,
19 BS_MINIBALL,
20
21 BS_FORCE_DWORD = 0x7fffffff
22 };
23
24 class ICEMATHS_API Sphere
25 {
26 public:
27 //! Constructor
28 inline_ Sphere() {}
29 //! Constructor
30 inline_ Sphere(const Point& center, float radius) : mCenter(center), mRadius(radius) {}
31 //! Constructor
32 Sphere(udword nb_verts, const Point* verts);
33 //! Copy constructor
34 inline_ Sphere(const Sphere& sphere) : mCenter(sphere.mCenter), mRadius(sphere.mRadius) {}
35 //! Destructor
36 inline_ ~Sphere() {}
37
38 BSphereMethod Compute(udword nb_verts, const Point* verts);
39 bool FastCompute(udword nb_verts, const Point* verts);
40
41 // Access methods
42 inline_ const Point& GetCenter() const { return mCenter; }
43 inline_ float GetRadius() const { return mRadius; }
44
45 inline_ const Point& Center() const { return mCenter; }
46 inline_ float Radius() const { return mRadius; }
47
48 inline_ Sphere& Set(const Point& center, float radius) { mCenter = center; mRadius = radius; return *this; }
49 inline_ Sphere& SetCenter(const Point& center) { mCenter = center; return *this; }
50 inline_ Sphere& SetRadius(float radius) { mRadius = radius; return *this; }
51
52 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
53 /**
54 * Tests if a point is contained within the sphere.
55 * \param p [in] the point to test
56 * \return true if inside the sphere
57 */
58 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
59 inline_ bool Contains(const Point& p) const
60 {
61 return mCenter.SquareDistance(p) <= mRadius*mRadius;
62 }
63
64 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
65 /**
66 * Tests if a sphere is contained within the sphere.
67 * \param sphere [in] the sphere to test
68 * \return true if inside the sphere
69 */
70 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
71 inline_ bool Contains(const Sphere& sphere) const
72 {
73 // If our radius is the smallest, we can't possibly contain the other sphere
74 if(mRadius < sphere.mRadius) return false;
75 // So r is always positive or null now
76 float r = mRadius - sphere.mRadius;
77 return mCenter.SquareDistance(sphere.mCenter) <= r*r;
78 }
79
80 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
81 /**
82 * Tests if a box is contained within the sphere.
83 * \param aabb [in] the box to test
84 * \return true if inside the sphere
85 */
86 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
87 inline_ BOOL Contains(const AABB& aabb) const
88 {
89 // I assume if all 8 box vertices are inside the sphere, so does the whole box.
90 // Sounds ok but maybe there's a better way?
91 float R2 = mRadius * mRadius;
92#ifdef USE_MIN_MAX
93 const Point& Max = ((ShadowAABB&)&aabb).mMax;
94 const Point& Min = ((ShadowAABB&)&aabb).mMin;
95#else
96 Point Max; aabb.GetMax(Max);
97 Point Min; aabb.GetMin(Min);
98#endif
99 Point p;
100 p.x=Max.x; p.y=Max.y; p.z=Max.z; if(mCenter.SquareDistance(p)>=R2) return FALSE;
101 p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
102 p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE;
103 p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
104 p.x=Max.x; p.y=Max.y; p.z=Min.z; if(mCenter.SquareDistance(p)>=R2) return FALSE;
105 p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
106 p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE;
107 p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
108
109 return TRUE;
110 }
111
112 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
113 /**
114 * Tests if the sphere intersects another sphere
115 * \param sphere [in] the other sphere
116 * \return true if spheres overlap
117 */
118 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
119 inline_ bool Intersect(const Sphere& sphere) const
120 {
121 float r = mRadius + sphere.mRadius;
122 return mCenter.SquareDistance(sphere.mCenter) <= r*r;
123 }
124
125 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
126 /**
127 * Checks the sphere is valid.
128 * \return true if the box is valid
129 */
130 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
131 inline_ BOOL IsValid() const
132 {
133 // Consistency condition for spheres: Radius >= 0.0f
134 if(mRadius < 0.0f) return FALSE;
135 return TRUE;
136 }
137 public:
138 Point mCenter; //!< Sphere center
139 float mRadius; //!< Sphere radius
140 };
141
142#endif // __ICEBOUNDINGSPHERE_H__
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