aabbox3d.h

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// Copyright (C) 2002-2012 Nikolaus Gebhardt
// This file is part of the "Irrlicht Engine".
// For conditions of distribution and use, see copyright notice in irrlicht.h

#ifndef __IRR_AABBOX_3D_H_INCLUDED__
#define __IRR_AABBOX_3D_H_INCLUDED__

#include "irrMath.h"
#include "plane3d.h"
#include "line3d.h"

namespace irr
{
namespace core
{


template <class T>
class aabbox3d
{
        public:

                aabbox3d(): MinEdge(-1,-1,-1), MaxEdge(1,1,1) {}
                aabbox3d(const vector3d<T>& min, const vector3d<T>& max): MinEdge(min), MaxEdge(max) {}
                aabbox3d(const vector3d<T>& init): MinEdge(init), MaxEdge(init) {}
                aabbox3d(T minx, T miny, T minz, T maxx, T maxy, T maxz): MinEdge(minx, miny, minz), MaxEdge(maxx, maxy, maxz) {}

                // operators

                inline bool operator==(const aabbox3d<T>& other) const { return (MinEdge == other.MinEdge && other.MaxEdge == MaxEdge);}

                inline bool operator!=(const aabbox3d<T>& other) const { return !(MinEdge == other.MinEdge && other.MaxEdge == MaxEdge);}

                // functions


                void reset(T x, T y, T z)
                {
                        MaxEdge.set(x,y,z);
                        MinEdge = MaxEdge;
                }


                void reset(const aabbox3d<T>& initValue)
                {
                        *this = initValue;
                }


                void reset(const vector3d<T>& initValue)
                {
                        MaxEdge = initValue;
                        MinEdge = initValue;
                }


                void addInternalPoint(const vector3d<T>& p)
                {
                        addInternalPoint(p.X, p.Y, p.Z);
                }


                void addInternalBox(const aabbox3d<T>& b)
                {
                        addInternalPoint(b.MaxEdge);
                        addInternalPoint(b.MinEdge);
                }


                void addInternalPoint(T x, T y, T z)
                {
                        if (x>MaxEdge.X) MaxEdge.X = x;
                        if (y>MaxEdge.Y) MaxEdge.Y = y;
                        if (z>MaxEdge.Z) MaxEdge.Z = z;

                        if (x<MinEdge.X) MinEdge.X = x;
                        if (y<MinEdge.Y) MinEdge.Y = y;
                        if (z<MinEdge.Z) MinEdge.Z = z;
                }


                vector3d<T> getCenter() const
                {
                        return (MinEdge + MaxEdge) / 2;
                }


                vector3d<T> getExtent() const
                {
                        return MaxEdge - MinEdge;
                }


                T getRadius() const
                {
                        const T radius = getExtent().getLength() / 2;
                        return radius;
                }


                bool isEmpty() const
                {
                        return MinEdge.equals ( MaxEdge );
                }

                T getVolume() const
                {
                        const vector3d<T> e = getExtent();
                        return e.X * e.Y * e.Z;
                }

                T getArea() const
                {
                        const vector3d<T> e = getExtent();
                        return 2*(e.X*e.Y + e.X*e.Z + e.Y*e.Z);
                }


                void getEdges(vector3d<T> *edges) const
                {
                        const core::vector3d<T> middle = getCenter();
                        const core::vector3d<T> diag = middle - MaxEdge;

                        /*
                        Edges are stored in this way:
                        Hey, am I an ascii artist, or what? :) niko.
                   /3--------/7
                  / |       / |
                 /  |      /  |
                1---------5   |
                |  /2- - -|- -6
                | /       |  /
                |/        | /
                0---------4/
                        */

                        edges[0].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
                        edges[1].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
                        edges[2].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
                        edges[3].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
                        edges[4].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
                        edges[5].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
                        edges[6].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
                        edges[7].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
                }


                void repair()
                {
                        T t;

                        if (MinEdge.X > MaxEdge.X)
                                { t=MinEdge.X; MinEdge.X = MaxEdge.X; MaxEdge.X=t; }
                        if (MinEdge.Y > MaxEdge.Y)
                                { t=MinEdge.Y; MinEdge.Y = MaxEdge.Y; MaxEdge.Y=t; }
                        if (MinEdge.Z > MaxEdge.Z)
                                { t=MinEdge.Z; MinEdge.Z = MaxEdge.Z; MaxEdge.Z=t; }
                }

                // Check if MaxEdge > MinEdge
                bool isValid() const
                {
                        if (MinEdge.X > MaxEdge.X) return false;
                        if (MinEdge.Y > MaxEdge.Y) return false;
                        if (MinEdge.Z > MaxEdge.Z) return false;

                        return true;
                }


                aabbox3d<T> getInterpolated(const aabbox3d<T>& other, f32 d) const
                {
                        f32 inv = 1.0f - d;
                        return aabbox3d<T>((other.MinEdge*inv) + (MinEdge*d),
                                (other.MaxEdge*inv) + (MaxEdge*d));
                }


                bool isPointInside(const vector3d<T>& p) const
                {
                        return (p.X >= MinEdge.X && p.X <= MaxEdge.X &&
                                p.Y >= MinEdge.Y && p.Y <= MaxEdge.Y &&
                                p.Z >= MinEdge.Z && p.Z <= MaxEdge.Z);
                }


                bool isPointTotalInside(const vector3d<T>& p) const
                {
                        return (p.X > MinEdge.X && p.X < MaxEdge.X &&
                                p.Y > MinEdge.Y && p.Y < MaxEdge.Y &&
                                p.Z > MinEdge.Z && p.Z < MaxEdge.Z);
                }


                bool isFullInside(const aabbox3d<T>& other) const
                {
                        return (MinEdge.X >= other.MinEdge.X && MinEdge.Y >= other.MinEdge.Y && MinEdge.Z >= other.MinEdge.Z &&
                                MaxEdge.X <= other.MaxEdge.X && MaxEdge.Y <= other.MaxEdge.Y && MaxEdge.Z <= other.MaxEdge.Z);
                }

                aabbox3d<T> intersect(const aabbox3d<T>& other) const
                {
                        aabbox3d<T> out;

                        if (!intersectsWithBox(other))
                                return out;

                        out.MaxEdge.X = min_(MaxEdge.X, other.MaxEdge.X);
                        out.MaxEdge.Y = min_(MaxEdge.Y, other.MaxEdge.Y);
                        out.MaxEdge.Z = min_(MaxEdge.Z, other.MaxEdge.Z);

                        out.MinEdge.X = max_(MinEdge.X, other.MinEdge.X);
                        out.MinEdge.Y = max_(MinEdge.Y, other.MinEdge.Y);
                        out.MinEdge.Z = max_(MinEdge.Z, other.MinEdge.Z);

                        return out;
                }


                bool intersectsWithBox(const aabbox3d<T>& other) const
                {
                        return (MinEdge.X <= other.MaxEdge.X && MinEdge.Y <= other.MaxEdge.Y && MinEdge.Z <= other.MaxEdge.Z &&
                                MaxEdge.X >= other.MinEdge.X && MaxEdge.Y >= other.MinEdge.Y && MaxEdge.Z >= other.MinEdge.Z);
                }


                bool intersectsWithLine(const line3d<T>& line) const
                {
                        return intersectsWithLine(line.getMiddle(), line.getVector().normalize(),
                                        (T)(line.getLength() * 0.5));
                }


                bool intersectsWithLine(const vector3d<T>& linemiddle,
                                        const vector3d<T>& linevect, T halflength) const
                {
                        const vector3d<T> e = getExtent() * (T)0.5;
                        const vector3d<T> t = getCenter() - linemiddle;

                        if ((fabs(t.X) > e.X + halflength * fabs(linevect.X)) ||
                                (fabs(t.Y) > e.Y + halflength * fabs(linevect.Y)) ||
                                (fabs(t.Z) > e.Z + halflength * fabs(linevect.Z)) )
                                return false;

                        T r = e.Y * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.Y);
                        if (fabs(t.Y*linevect.Z - t.Z*linevect.Y) > r )
                                return false;

                        r = e.X * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.X);
                        if (fabs(t.Z*linevect.X - t.X*linevect.Z) > r )
                                return false;

                        r = e.X * (T)fabs(linevect.Y) + e.Y * (T)fabs(linevect.X);
                        if (fabs(t.X*linevect.Y - t.Y*linevect.X) > r)
                                return false;

                        return true;
                }


                EIntersectionRelation3D classifyPlaneRelation(const plane3d<T>& plane) const
                {
                        vector3d<T> nearPoint(MaxEdge);
                        vector3d<T> farPoint(MinEdge);

                        if (plane.Normal.X > (T)0)
                        {
                                nearPoint.X = MinEdge.X;
                                farPoint.X = MaxEdge.X;
                        }

                        if (plane.Normal.Y > (T)0)
                        {
                                nearPoint.Y = MinEdge.Y;
                                farPoint.Y = MaxEdge.Y;
                        }

                        if (plane.Normal.Z > (T)0)
                        {
                                nearPoint.Z = MinEdge.Z;
                                farPoint.Z = MaxEdge.Z;
                        }

                        if (plane.Normal.dotProduct(nearPoint) + plane.D > (T)0)
                                return ISREL3D_FRONT;

                        if (plane.Normal.dotProduct(farPoint) + plane.D > (T)0)
                                return ISREL3D_CLIPPED;

                        return ISREL3D_BACK;
                }

                vector3d<T> MinEdge;

                vector3d<T> MaxEdge;
};

        typedef aabbox3d<f32> aabbox3df;
        typedef aabbox3d<s32> aabbox3di;

} // end namespace core
} // end namespace irr

#endif