1
// Copyright (C) 2002-2011 Nikolaus Gebhardt
2
// This file is part of the "Irrlicht Engine".
3
// For conditions of distribution and use, see copyright notice in irrlicht.h
5
#ifndef __IRR_AABBOX_3D_H_INCLUDED__
6
#define __IRR_AABBOX_3D_H_INCLUDED__
17
//! Axis aligned bounding box in 3d dimensional space.
18
/** Has some useful methods used with occlusion culling or clipping.
25
//! Default Constructor.
26
aabbox3d(): MinEdge(-1,-1,-1), MaxEdge(1,1,1) {}
27
//! Constructor with min edge and max edge.
28
aabbox3d(const vector3d<T>& min, const vector3d<T>& max): MinEdge(min), MaxEdge(max) {}
29
//! Constructor with only one point.
30
aabbox3d(const vector3d<T>& init): MinEdge(init), MaxEdge(init) {}
31
//! Constructor with min edge and max edge as single values, not vectors.
32
aabbox3d(T minx, T miny, T minz, T maxx, T maxy, T maxz): MinEdge(minx, miny, minz), MaxEdge(maxx, maxy, maxz) {}
36
/** \param other box to compare with.
37
\return True if both boxes are equal, else false. */
38
inline bool operator==(const aabbox3d<T>& other) const { return (MinEdge == other.MinEdge && other.MaxEdge == MaxEdge);}
39
//! Inequality operator
40
/** \param other box to compare with.
41
\return True if both boxes are different, else false. */
42
inline bool operator!=(const aabbox3d<T>& other) const { return !(MinEdge == other.MinEdge && other.MaxEdge == MaxEdge);}
46
//! Resets the bounding box to a one-point box.
47
/** \param x X coord of the point.
48
\param y Y coord of the point.
49
\param z Z coord of the point. */
50
void reset(T x, T y, T z)
56
//! Resets the bounding box.
57
/** \param initValue New box to set this one to. */
58
void reset(const aabbox3d<T>& initValue)
63
//! Resets the bounding box to a one-point box.
64
/** \param initValue New point. */
65
void reset(const vector3d<T>& initValue)
71
//! Adds a point to the bounding box
72
/** The box grows bigger, if point was outside of the box.
73
\param p: Point to add into the box. */
74
void addInternalPoint(const vector3d<T>& p)
76
addInternalPoint(p.X, p.Y, p.Z);
79
//! Adds another bounding box
80
/** The box grows bigger, if the new box was outside of the box.
81
\param b: Other bounding box to add into this box. */
82
void addInternalBox(const aabbox3d<T>& b)
84
addInternalPoint(b.MaxEdge);
85
addInternalPoint(b.MinEdge);
88
//! Adds a point to the bounding box
89
/** The box grows bigger, if point is outside of the box.
90
\param x X coordinate of the point to add to this box.
91
\param y Y coordinate of the point to add to this box.
92
\param z Z coordinate of the point to add to this box. */
93
void addInternalPoint(T x, T y, T z)
95
if (x>MaxEdge.X) MaxEdge.X = x;
96
if (y>MaxEdge.Y) MaxEdge.Y = y;
97
if (z>MaxEdge.Z) MaxEdge.Z = z;
99
if (x<MinEdge.X) MinEdge.X = x;
100
if (y<MinEdge.Y) MinEdge.Y = y;
101
if (z<MinEdge.Z) MinEdge.Z = z;
104
//! Get center of the bounding box
105
/** \return Center of the bounding box. */
106
vector3d<T> getCenter() const
108
return (MinEdge + MaxEdge) / 2;
111
//! Get extent of the box (maximal distance of two points in the box)
112
/** \return Extent of the bounding box. */
113
vector3d<T> getExtent() const
115
return MaxEdge - MinEdge;
118
//! Check if the box is empty.
119
/** This means that there is no space between the min and max edge.
120
\return True if box is empty, else false. */
123
return MinEdge.equals ( MaxEdge );
126
//! Get the volume enclosed by the box in cubed units
129
const vector3d<T> e = getExtent();
130
return e.X * e.Y * e.Z;
133
//! Get the surface area of the box in squared units
136
const vector3d<T> e = getExtent();
137
return 2*(e.X*e.Y + e.X*e.Z + e.Y*e.Z);
140
//! Stores all 8 edges of the box into an array
141
/** \param edges: Pointer to array of 8 edges. */
142
void getEdges(vector3d<T> *edges) const
144
const core::vector3d<T> middle = getCenter();
145
const core::vector3d<T> diag = middle - MaxEdge;
148
Edges are stored in this way:
149
Hey, am I an ascii artist, or what? :) niko.
160
edges[0].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
161
edges[1].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
162
edges[2].set(middle.X + diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
163
edges[3].set(middle.X + diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
164
edges[4].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z + diag.Z);
165
edges[5].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z + diag.Z);
166
edges[6].set(middle.X - diag.X, middle.Y + diag.Y, middle.Z - diag.Z);
167
edges[7].set(middle.X - diag.X, middle.Y - diag.Y, middle.Z - diag.Z);
171
/** Necessary if for example MinEdge and MaxEdge are swapped. */
176
if (MinEdge.X > MaxEdge.X)
177
{ t=MinEdge.X; MinEdge.X = MaxEdge.X; MaxEdge.X=t; }
178
if (MinEdge.Y > MaxEdge.Y)
179
{ t=MinEdge.Y; MinEdge.Y = MaxEdge.Y; MaxEdge.Y=t; }
180
if (MinEdge.Z > MaxEdge.Z)
181
{ t=MinEdge.Z; MinEdge.Z = MaxEdge.Z; MaxEdge.Z=t; }
184
//! Calculates a new interpolated bounding box.
185
/** d=0 returns other, d=1 returns this, all other values blend between
187
\param other Other box to interpolate between
188
\param d Value between 0.0f and 1.0f.
189
\return Interpolated box. */
190
aabbox3d<T> getInterpolated(const aabbox3d<T>& other, f32 d) const
193
return aabbox3d<T>((other.MinEdge*inv) + (MinEdge*d),
194
(other.MaxEdge*inv) + (MaxEdge*d));
197
//! Determines if a point is within this box.
198
/** Border is included (IS part of the box)!
199
\param p: Point to check.
200
\return True if the point is within the box and false if not */
201
bool isPointInside(const vector3d<T>& p) const
203
return (p.X >= MinEdge.X && p.X <= MaxEdge.X &&
204
p.Y >= MinEdge.Y && p.Y <= MaxEdge.Y &&
205
p.Z >= MinEdge.Z && p.Z <= MaxEdge.Z);
208
//! Determines if a point is within this box and not its borders.
209
/** Border is excluded (NOT part of the box)!
210
\param p: Point to check.
211
\return True if the point is within the box and false if not. */
212
bool isPointTotalInside(const vector3d<T>& p) const
214
return (p.X > MinEdge.X && p.X < MaxEdge.X &&
215
p.Y > MinEdge.Y && p.Y < MaxEdge.Y &&
216
p.Z > MinEdge.Z && p.Z < MaxEdge.Z);
219
//! Check if this box is completely inside the 'other' box.
220
/** \param other: Other box to check against.
221
\return True if this box is completly inside the other box,
223
bool isFullInside(const aabbox3d<T>& other) const
225
return (MinEdge.X >= other.MinEdge.X && MinEdge.Y >= other.MinEdge.Y && MinEdge.Z >= other.MinEdge.Z &&
226
MaxEdge.X <= other.MaxEdge.X && MaxEdge.Y <= other.MaxEdge.Y && MaxEdge.Z <= other.MaxEdge.Z);
229
//! Determines if the axis-aligned box intersects with another axis-aligned box.
230
/** \param other: Other box to check a intersection with.
231
\return True if there is an intersection with the other box,
233
bool intersectsWithBox(const aabbox3d<T>& other) const
235
return (MinEdge.X <= other.MaxEdge.X && MinEdge.Y <= other.MaxEdge.Y && MinEdge.Z <= other.MaxEdge.Z &&
236
MaxEdge.X >= other.MinEdge.X && MaxEdge.Y >= other.MinEdge.Y && MaxEdge.Z >= other.MinEdge.Z);
239
//! Tests if the box intersects with a line
240
/** \param line: Line to test intersection with.
241
\return True if there is an intersection , else false. */
242
bool intersectsWithLine(const line3d<T>& line) const
244
return intersectsWithLine(line.getMiddle(), line.getVector().normalize(),
245
(T)(line.getLength() * 0.5));
248
//! Tests if the box intersects with a line
249
/** \param linemiddle Center of the line.
250
\param linevect Vector of the line.
251
\param halflength Half length of the line.
252
\return True if there is an intersection, else false. */
253
bool intersectsWithLine(const vector3d<T>& linemiddle,
254
const vector3d<T>& linevect, T halflength) const
256
const vector3d<T> e = getExtent() * (T)0.5;
257
const vector3d<T> t = getCenter() - linemiddle;
259
if ((fabs(t.X) > e.X + halflength * fabs(linevect.X)) ||
260
(fabs(t.Y) > e.Y + halflength * fabs(linevect.Y)) ||
261
(fabs(t.Z) > e.Z + halflength * fabs(linevect.Z)) )
264
T r = e.Y * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.Y);
265
if (fabs(t.Y*linevect.Z - t.Z*linevect.Y) > r )
268
r = e.X * (T)fabs(linevect.Z) + e.Z * (T)fabs(linevect.X);
269
if (fabs(t.Z*linevect.X - t.X*linevect.Z) > r )
272
r = e.X * (T)fabs(linevect.Y) + e.Y * (T)fabs(linevect.X);
273
if (fabs(t.X*linevect.Y - t.Y*linevect.X) > r)
279
//! Classifies a relation with a plane.
280
/** \param plane Plane to classify relation to.
281
\return Returns ISREL3D_FRONT if the box is in front of the plane,
282
ISREL3D_BACK if the box is behind the plane, and
283
ISREL3D_CLIPPED if it is on both sides of the plane. */
284
EIntersectionRelation3D classifyPlaneRelation(const plane3d<T>& plane) const
286
vector3d<T> nearPoint(MaxEdge);
287
vector3d<T> farPoint(MinEdge);
289
if (plane.Normal.X > (T)0)
291
nearPoint.X = MinEdge.X;
292
farPoint.X = MaxEdge.X;
295
if (plane.Normal.Y > (T)0)
297
nearPoint.Y = MinEdge.Y;
298
farPoint.Y = MaxEdge.Y;
301
if (plane.Normal.Z > (T)0)
303
nearPoint.Z = MinEdge.Z;
304
farPoint.Z = MaxEdge.Z;
307
if (plane.Normal.dotProduct(nearPoint) + plane.D > (T)0)
308
return ISREL3D_FRONT;
310
if (plane.Normal.dotProduct(farPoint) + plane.D > (T)0)
311
return ISREL3D_CLIPPED;
323
//! Typedef for a f32 3d bounding box.
324
typedef aabbox3d<f32> aabbox3df;
325
//! Typedef for an integer 3d bounding box.
326
typedef aabbox3d<s32> aabbox3di;
328
} // end namespace core
329
} // end namespace irr
added
removed
include/aabbox3d.h
