From d48ea5bb797037069d641da41da0f195f0124491 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:20:48 +0000
Subject: one more for the gipper

---
 libraries/ode-0.9/OPCODE/Ice/IceAABB.cpp | 405 +++++++++++++++++++++++++++++++
 1 file changed, 405 insertions(+)
 create mode 100644 libraries/ode-0.9/OPCODE/Ice/IceAABB.cpp

(limited to 'libraries/ode-0.9/OPCODE/Ice/IceAABB.cpp')

diff --git a/libraries/ode-0.9/OPCODE/Ice/IceAABB.cpp b/libraries/ode-0.9/OPCODE/Ice/IceAABB.cpp
new file mode 100644
index 0000000..d62b0ed
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/Ice/IceAABB.cpp
@@ -0,0 +1,405 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains AABB-related code.
+ *	\file		IceAABB.cpp
+ *	\author		Pierre Terdiman
+ *	\date		January, 29, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	AABB class.
+ *	\class		AABB
+ *	\author		Pierre Terdiman
+ *	\version	1.0
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace IceMaths;
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Computes the sum of two AABBs.
+ *	\param		aabb	[in] the other AABB
+ *	\return		Self-Reference
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+AABB& AABB::Add(const AABB& aabb)
+{
+	// Compute new min & max values
+	Point Min;	GetMin(Min);
+	Point Tmp;	aabb.GetMin(Tmp);
+	Min.Min(Tmp);
+
+	Point Max;	GetMax(Max);
+	aabb.GetMax(Tmp);
+	Max.Max(Tmp);
+
+	// Update this
+	SetMinMax(Min, Max);
+	return *this;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Makes a cube from the AABB.
+ *	\param		cube	[out] the cube AABB
+ *	\return		cube edge length
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+float AABB::MakeCube(AABB& cube) const
+{
+	Point Ext;	GetExtents(Ext);
+	float Max = Ext.Max();
+
+	Point Cnt;	GetCenter(Cnt);
+	cube.SetCenterExtents(Cnt, Point(Max, Max, Max));
+	return Max;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Makes a sphere from the AABB.
+ *	\param		sphere	[out] sphere containing the AABB
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void AABB::MakeSphere(Sphere& sphere) const
+{
+	GetExtents(sphere.mCenter);
+	sphere.mRadius = sphere.mCenter.Magnitude() * 1.00001f;	// To make sure sphere::Contains(*this)	succeeds
+	GetCenter(sphere.mCenter);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Checks a box is inside another box.
+ *	\param		box		[in] the other AABB
+ *	\return		true if current box is inside input box
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool AABB::IsInside(const AABB& box) const
+{
+	if(box.GetMin(0)>GetMin(0))	return false;
+	if(box.GetMin(1)>GetMin(1))	return false;
+	if(box.GetMin(2)>GetMin(2))	return false;
+	if(box.GetMax(0)<GetMax(0))	return false;
+	if(box.GetMax(1)<GetMax(1))	return false;
+	if(box.GetMax(2)<GetMax(2))	return false;
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Computes the AABB planes.
+ *	\param		planes	[out] 6 planes surrounding the box
+ *	\return		true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool AABB::ComputePlanes(Plane* planes)	const
+{
+	// Checkings
+	if(!planes)	return false;
+
+	Point Center, Extents;
+	GetCenter(Center);
+	GetExtents(Extents);
+
+	// Writes normals
+	planes[0].n = Point(1.0f, 0.0f, 0.0f);
+	planes[1].n = Point(-1.0f, 0.0f, 0.0f);
+	planes[2].n = Point(0.0f, 1.0f, 0.0f);
+	planes[3].n = Point(0.0f, -1.0f, 0.0f);
+	planes[4].n = Point(0.0f, 0.0f, 1.0f);
+	planes[5].n = Point(0.0f, 0.0f, -1.0f);
+
+	// Compute a point on each plane
+	Point p0 = Point(Center.x+Extents.x, Center.y, Center.z);
+	Point p1 = Point(Center.x-Extents.x, Center.y, Center.z);
+	Point p2 = Point(Center.x, Center.y+Extents.y, Center.z);
+	Point p3 = Point(Center.x, Center.y-Extents.y, Center.z);
+	Point p4 = Point(Center.x, Center.y, Center.z+Extents.z);
+	Point p5 = Point(Center.x, Center.y, Center.z-Extents.z);
+
+	// Compute d
+	planes[0].d = -(planes[0].n|p0);
+	planes[1].d = -(planes[1].n|p1);
+	planes[2].d = -(planes[2].n|p2);
+	planes[3].d = -(planes[3].n|p3);
+	planes[4].d = -(planes[4].n|p4);
+	planes[5].d = -(planes[5].n|p5);
+
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Computes the aabb points.
+ *	\param		pts	[out] 8 box points
+ *	\return		true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool AABB::ComputePoints(Point* pts)	const
+{
+	// Checkings
+	if(!pts)	return false;
+
+	// Get box corners
+	Point min;	GetMin(min);
+	Point max;	GetMax(max);
+
+	//     7+------+6			0 = ---
+	//     /|     /|			1 = +--
+	//    / |    / |			2 = ++-
+	//   / 4+---/--+5			3 = -+-
+	// 3+------+2 /    y   z	4 = --+
+	//  | /    | /     |  /		5 = +-+
+	//  |/     |/      |/		6 = +++
+	// 0+------+1      *---x	7 = -++
+
+	// Generate 8 corners of the bbox
+	pts[0] = Point(min.x, min.y, min.z);
+	pts[1] = Point(max.x, min.y, min.z);
+	pts[2] = Point(max.x, max.y, min.z);
+	pts[3] = Point(min.x, max.y, min.z);
+	pts[4] = Point(min.x, min.y, max.z);
+	pts[5] = Point(max.x, min.y, max.z);
+	pts[6] = Point(max.x, max.y, max.z);
+	pts[7] = Point(min.x, max.y, max.z);
+
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Gets vertex normals.
+ *	\param		pts	[out] 8 box points
+ *	\return		true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+const Point* AABB::GetVertexNormals()	const
+{
+	static float VertexNormals[] = 
+	{
+		-INVSQRT3,	-INVSQRT3,	-INVSQRT3,
+		INVSQRT3,	-INVSQRT3,	-INVSQRT3,
+		INVSQRT3,	INVSQRT3,	-INVSQRT3,
+		-INVSQRT3,	INVSQRT3,	-INVSQRT3,
+		-INVSQRT3,	-INVSQRT3,	INVSQRT3,
+		INVSQRT3,	-INVSQRT3,	INVSQRT3,
+		INVSQRT3,	INVSQRT3,	INVSQRT3,
+		-INVSQRT3,	INVSQRT3,	INVSQRT3
+	};
+	return (const Point*)VertexNormals;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Returns edges.
+ *	\return		24 indices (12 edges) indexing the list returned by ComputePoints()
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+const udword* AABB::GetEdges() const
+{
+	static udword Indices[] = {
+	0, 1,	1, 2,	2, 3,	3, 0,
+	7, 6,	6, 5,	5, 4,	4, 7,
+	1, 5,	6, 2,
+	3, 7,	4, 0
+	};
+	return Indices;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Returns edge normals.
+ *	\return		edge normals in local space
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+const Point* AABB::GetEdgeNormals() const
+{
+	static float EdgeNormals[] = 
+	{
+		0,			-INVSQRT2,	-INVSQRT2,	// 0-1
+		INVSQRT2,	0,			-INVSQRT2,	// 1-2
+		0,			INVSQRT2,	-INVSQRT2,	// 2-3
+		-INVSQRT2,	0,			-INVSQRT2,	// 3-0
+
+		0,			INVSQRT2,	INVSQRT2,	// 7-6
+		INVSQRT2,	0,			INVSQRT2,	// 6-5
+		0,			-INVSQRT2,	INVSQRT2,	// 5-4
+		-INVSQRT2,	0,			INVSQRT2,	// 4-7
+
+		INVSQRT2,	-INVSQRT2,	0,			// 1-5
+		INVSQRT2,	INVSQRT2,	0,			// 6-2
+		-INVSQRT2,	INVSQRT2,	0,			// 3-7
+		-INVSQRT2,	-INVSQRT2,	0			// 4-0
+	};
+	return (const Point*)EdgeNormals;
+}
+
+// ===========================================================================
+//  (C) 1996-98 Vienna University of Technology
+// ===========================================================================
+//  NAME:       bboxarea
+//  TYPE:       c++ code
+//  PROJECT:    Bounding Box Area
+//  CONTENT:    Computes area of 2D projection of 3D oriented bounding box
+//  VERSION:    1.0
+// ===========================================================================
+//  AUTHORS:    ds      Dieter Schmalstieg
+//              ep      Erik Pojar
+// ===========================================================================
+//  HISTORY:
+//
+//  19-sep-99 15:23:03  ds      last modification
+//  01-dec-98 15:23:03  ep      created
+// ===========================================================================
+
+//----------------------------------------------------------------------------
+// SAMPLE CODE STARTS HERE
+//----------------------------------------------------------------------------
+
+// NOTE: This sample program requires OPEN INVENTOR!
+
+//indexlist: this table stores the 64 possible cases of classification of
+//the eyepoint with respect to the 6 defining planes of the bbox (2^6=64)
+//only 26 (3^3-1, where 1 is "inside" cube) of these cases are valid.
+//the first 6 numbers in each row are the indices of the bbox vertices that
+//form the outline of which we want to compute the area (counterclockwise
+//ordering), the 7th entry means the number of vertices in the outline.
+//there are 6 cases with a single face and and a 4-vertex outline, and
+//20 cases with 2 or 3 faces and a 6-vertex outline. a value of 0 indicates
+//an invalid case.
+
+
+// Original list was made of 7 items, I added an 8th element:
+// - to padd on a cache line
+// - to repeat the first entry to avoid modulos
+//
+// I also replaced original ints with sbytes.
+
+static const sbyte gIndexList[64][8] =
+{
+    {-1,-1,-1,-1,-1,-1,-1,   0}, // 0 inside
+    { 0, 4, 7, 3, 0,-1,-1,   4}, // 1 left
+    { 1, 2, 6, 5, 1,-1,-1,   4}, // 2 right
+    {-1,-1,-1,-1,-1,-1,-1,   0}, // 3 -
+    { 0, 1, 5, 4, 0,-1,-1,   4}, // 4 bottom
+    { 0, 1, 5, 4, 7, 3, 0,   6}, // 5 bottom, left
+    { 0, 1, 2, 6, 5, 4, 0,   6}, // 6 bottom, right
+    {-1,-1,-1,-1,-1,-1,-1,   0}, // 7 -
+    { 2, 3, 7, 6, 2,-1,-1,   4}, // 8 top
+    { 0, 4, 7, 6, 2, 3, 0,   6}, // 9 top, left
+    { 1, 2, 3, 7, 6, 5, 1,   6}, //10 top, right
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //11 -
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //12 -
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //13 -
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //14 -
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //15 -
+    { 0, 3, 2, 1, 0,-1,-1,   4}, //16 front
+    { 0, 4, 7, 3, 2, 1, 0,   6}, //17 front, left
+    { 0, 3, 2, 6, 5, 1, 0,   6}, //18 front, right
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //19 -
+    { 0, 3, 2, 1, 5, 4, 0,   6}, //20 front, bottom
+    { 1, 5, 4, 7, 3, 2, 1,   6}, //21 front, bottom, left
+    { 0, 3, 2, 6, 5, 4, 0,   6}, //22 front, bottom, right
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //23 -
+    { 0, 3, 7, 6, 2, 1, 0,   6}, //24 front, top
+    { 0, 4, 7, 6, 2, 1, 0,   6}, //25 front, top, left
+    { 0, 3, 7, 6, 5, 1, 0,   6}, //26 front, top, right
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //27 -
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //28 -
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //29 -
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //30 -
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //31 -
+    { 4, 5, 6, 7, 4,-1,-1,   4}, //32 back
+    { 0, 4, 5, 6, 7, 3, 0,   6}, //33 back, left
+    { 1, 2, 6, 7, 4, 5, 1,   6}, //34 back, right
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //35 -
+    { 0, 1, 5, 6, 7, 4, 0,   6}, //36 back, bottom
+    { 0, 1, 5, 6, 7, 3, 0,   6}, //37 back, bottom, left
+    { 0, 1, 2, 6, 7, 4, 0,   6}, //38 back, bottom, right
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //39 -
+    { 2, 3, 7, 4, 5, 6, 2,   6}, //40 back, top
+    { 0, 4, 5, 6, 2, 3, 0,   6}, //41 back, top, left
+    { 1, 2, 3, 7, 4, 5, 1,   6}, //42 back, top, right
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //43 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //44 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //45 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //46 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //47 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //48 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //49 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //50 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //51 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //52 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //53 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //54 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //55 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //56 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //57 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //58 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //59 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //60 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //61 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}, //62 invalid
+    {-1,-1,-1,-1,-1,-1,-1,   0}  //63 invalid
+};
+
+const sbyte* AABB::ComputeOutline(const Point& local_eye, sdword& num)	const
+{
+	// Get box corners
+	Point min;	GetMin(min);
+	Point max;	GetMax(max);
+
+	// Compute 6-bit code to classify eye with respect to the 6 defining planes of the bbox
+	int pos = ((local_eye.x < min.x) ?  1 : 0)	// 1 = left
+			+ ((local_eye.x > max.x) ?  2 : 0)	// 2 = right
+			+ ((local_eye.y < min.y) ?  4 : 0)	// 4 = bottom
+			+ ((local_eye.y > max.y) ?  8 : 0)	// 8 = top
+			+ ((local_eye.z < min.z) ? 16 : 0)	// 16 = front
+			+ ((local_eye.z > max.z) ? 32 : 0);	// 32 = back
+
+	// Look up number of vertices in outline
+	num = (sdword)gIndexList[pos][7];
+	// Zero indicates invalid case
+	if(!num) return null;
+
+	return &gIndexList[pos][0];
+}
+
+// calculateBoxArea: computes the screen-projected 2D area of an oriented 3D bounding box
+
+//const Point&		eye,		//eye point (in bbox object coordinates)
+//const AABB&			box,		//3d bbox
+//const Matrix4x4&	mat,		//free transformation for bbox
+//float width, float height, int& num)
+float AABB::ComputeBoxArea(const Point& eye, const Matrix4x4& mat, float width, float height, sdword& num)	const
+{
+	const sbyte* Outline = ComputeOutline(eye, num);
+	if(!Outline)	return -1.0f;
+
+	// Compute box vertices
+	Point vertexBox[8], dst[8];
+	ComputePoints(vertexBox);
+
+	// Transform all outline corners into 2D screen space
+	for(sdword i=0;i<num;i++)
+	{
+		HPoint Projected;
+		vertexBox[Outline[i]].ProjectToScreen(width, height, mat, Projected);
+		dst[i] = Projected;
+	}
+
+	float Sum = (dst[num-1][0] - dst[0][0]) * (dst[num-1][1] + dst[0][1]);
+
+	for(int i=0; i<num-1; i++)
+		Sum += (dst[i][0] - dst[i+1][0]) * (dst[i][1] + dst[i+1][1]);
+
+	return Sum * 0.5f;	//return computed value corrected by 0.5
+}
-- 
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