Home | Namespaces | Hierarchy | Alphabetical List | Class list | Files | Namespace Members | Class members | File members | Tutorials

aabbox3d.h

Go to the documentation of this file.
00001 // Copyright (C) 2002-2009 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 
00049                 void addInternalPoint(const vector3d<T>& p)
00050                 {
00051                         addInternalPoint(p.X, p.Y, p.Z);
00052                 }
00053 
00055 
00057                 void addInternalBox(const aabbox3d<T>& b)
00058                 {
00059                         addInternalPoint(b.MaxEdge);
00060                         addInternalPoint(b.MinEdge);
00061                 }
00062 
00064 
00067                 void reset(T x, T y, T z)
00068                 {
00069                         MaxEdge.set(x,y,z);
00070                         MinEdge = MaxEdge;
00071                 }
00072 
00074 
00075                 void reset(const aabbox3d<T>& initValue)
00076                 {
00077                         *this = initValue;
00078                 }
00079 
00081 
00082                 void reset(const vector3d<T>& initValue)
00083                 {
00084                         MaxEdge = initValue;
00085                         MinEdge = initValue;
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 
00107                 bool isPointInside(const vector3d<T>& p) const
00108                 {
00109                         return (p.X >= MinEdge.X && p.X <= MaxEdge.X &&
00110                                 p.Y >= MinEdge.Y && p.Y <= MaxEdge.Y &&
00111                                 p.Z >= MinEdge.Z && p.Z <= MaxEdge.Z);
00112                 }
00113 
00115 
00117                 bool isPointTotalInside(const vector3d<T>& p) const
00118                 {
00119                         return (p.X > MinEdge.X && p.X < MaxEdge.X &&
00120                                 p.Y > MinEdge.Y && p.Y < MaxEdge.Y &&
00121                                 p.Z > MinEdge.Z && p.Z < MaxEdge.Z);
00122                 }
00123 
00125 
00128                 bool intersectsWithBox(const aabbox3d<T>& other) const
00129                 {
00130                         return (MinEdge <= other.MaxEdge && MaxEdge >= other.MinEdge);
00131                 }
00132 
00134 
00137                 bool isFullInside(const aabbox3d<T>& other) const
00138                 {
00139                         return MinEdge >= other.MinEdge && MaxEdge <= other.MaxEdge;
00140                 }
00141 
00143 
00145                 bool intersectsWithLine(const line3d<T>& line) const
00146                 {
00147                         return intersectsWithLine(line.getMiddle(), line.getVector().normalize(),
00148                                         (T)(line.getLength() * 0.5));
00149                 }
00150 
00152 
00156                 bool intersectsWithLine(const vector3d<T>& linemiddle,
00157                                         const vector3d<T>& linevect,
00158                                         T halflength) const
00159                 {
00160                         const vector3d<T> e = getExtent() * (T)0.5;
00161                         const vector3d<T> t = getCenter() - linemiddle;
00162 
00163                         if ((fabs(t.X) > e.X + halflength * fabs(linevect.X)) ||
00164                                 (fabs(t.Y) > e.Y + halflength * fabs(linevect.Y)) ||
00165                                 (fabs(t.Z) > e.Z + halflength * fabs(linevect.Z)) )
00166                                 return false;
00167 
00168                         T r = e.Y * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.Y);
00169                         if (fabs(t.Y*linevect.Z - t.Z*linevect.Y) > r )
00170                                 return false;
00171 
00172                         r = e.X * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.X);
00173                         if (fabs(t.Z*linevect.X - t.X*linevect.Z) > r )
00174                                 return false;
00175 
00176                         r = e.X * (T)fabs(linevect.Y) + e.Y * (T)fabs(linevect.X);
00177                         if (fabs(t.X*linevect.Y - t.Y*linevect.X) > r)
00178                                 return false;
00179 
00180                         return true;
00181                 }
00182 
00184 
00188                 EIntersectionRelation3D classifyPlaneRelation(const plane3d<T>& plane) const
00189                 {
00190                         vector3d<T> nearPoint(MaxEdge);
00191                         vector3d<T> farPoint(MinEdge);
00192 
00193                         if (plane.Normal.X > (T)0)
00194                         {
00195                                 nearPoint.X = MinEdge.X;
00196                                 farPoint.X = MaxEdge.X;
00197                         }
00198 
00199                         if (plane.Normal.Y > (T)0)
00200                         {
00201                                 nearPoint.Y = MinEdge.Y;
00202                                 farPoint.Y = MaxEdge.Y;
00203                         }
00204 
00205                         if (plane.Normal.Z > (T)0)
00206                         {
00207                                 nearPoint.Z = MinEdge.Z;
00208                                 farPoint.Z = MaxEdge.Z;
00209                         }
00210 
00211                         if (plane.Normal.dotProduct(nearPoint) + plane.D > (T)0)
00212                                 return ISREL3D_FRONT;
00213 
00214                         if (plane.Normal.dotProduct(farPoint) + plane.D > (T)0)
00215                                 return ISREL3D_CLIPPED;
00216 
00217                         return ISREL3D_BACK;
00218                 }
00219 
00220 
00222 
00223                 vector3d<T> getCenter() const
00224                 {
00225                         return (MinEdge + MaxEdge) / 2;
00226                 }
00227 
00228 
00230 
00231                 vector3d<T> getExtent() const
00232                 {
00233                         return MaxEdge - MinEdge;
00234                 }
00235 
00236 
00238 
00239                 void getEdges(vector3d<T> *edges) const
00240                 {
00241                         const core::vector3d<T> middle = getCenter();
00242                         const core::vector3d<T> diag = middle - MaxEdge;
00243 
00244                         /*
00245                         Edges are stored in this way:
00246                         Hey, am I an ascii artist, or what? :) niko.
00247                   /3--------/7
00248                  /  |      / |
00249                 /   |     /  |
00250                 1---------5  |
00251                 |   2- - -| -6
00252                 |  /      |  /
00253                 |/        | /
00254                 0---------4/
00255                         */
00256 
00257                         edges[0].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
00258                         edges[1].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
00259                         edges[2].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
00260                         edges[3].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
00261                         edges[4].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
00262                         edges[5].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
00263                         edges[6].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
00264                         edges[7].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
00265                 }
00266 
00267 
00269 
00272                 bool isEmpty() const
00273                 {
00274                         return MinEdge.equals ( MaxEdge );
00275                 }
00276 
00277 
00279 
00280                 void repair()
00281                 {
00282                         T t;
00283 
00284                         if (MinEdge.X > MaxEdge.X)
00285                                 { t=MinEdge.X; MinEdge.X = MaxEdge.X; MaxEdge.X=t; }
00286                         if (MinEdge.Y > MaxEdge.Y)
00287                                 { t=MinEdge.Y; MinEdge.Y = MaxEdge.Y; MaxEdge.Y=t; }
00288                         if (MinEdge.Z > MaxEdge.Z)
00289                                 { t=MinEdge.Z; MinEdge.Z = MaxEdge.Z; MaxEdge.Z=t; }
00290                 }
00291 
00293 
00296                 aabbox3d<T> getInterpolated(const aabbox3d<T>& other, f32 d) const
00297                 {
00298                         f32 inv = 1.0f - d;
00299                         return aabbox3d<T>((other.MinEdge*inv) + (MinEdge*d),
00300                                 (other.MaxEdge*inv) + (MaxEdge*d));
00301                 }
00302 
00304                 T getVolume() const
00305                 {
00306                         const vector3d<T> e = getExtent();
00307                         return e.X * e.Y * e.Z;
00308                 }
00309 
00311                 T getArea() const
00312                 {
00313                         const vector3d<T> e = getExtent();
00314                         return 2*(e.X*e.Y + e.X*e.Z + e.Y*e.Z);
00315                 }
00316 
00318                 vector3d<T> MinEdge;
00319 
00321                 vector3d<T> MaxEdge;
00322 };
00323 
00325         typedef aabbox3d<f32> aabbox3df;
00327         typedef aabbox3d<s32> aabbox3di;
00328 
00329 } // end namespace core
00330 } // end namespace irr
00331 
00332 #endif
00333 

The Irrlicht Engine
The Irrlicht Engine Documentation © 2003-2009 by Nikolaus Gebhardt. Generated on Sun Jan 10 09:24:03 2010 by Doxygen (1.5.6)