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source: downloads/OgreMain/include/OgreAxisAlignedBox.h @ 1

Last change on this file since 1 was 1, checked in by landauf, 17 years ago

File size: 20.1 KB

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1	/*
2	-----------------------------------------------------------------------------
3	This source file is part of OGRE
4	(Object-oriented Graphics Rendering Engine)
5	For the latest info, see http://www.ogre3d.org/
6
7	Copyright (c) 2000-2006 Torus Knot Software Ltd
8	Also see acknowledgements in Readme.html
9
10	This program is free software; you can redistribute it and/or modify it under
11	the terms of the GNU Lesser General Public License as published by the Free Software
12	Foundation; either version 2 of the License, or (at your option) any later
13	version.
14
15	This program is distributed in the hope that it will be useful, but WITHOUT
16	ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
17	FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
18
19	You should have received a copy of the GNU Lesser General Public License along with
20	this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21	Place - Suite 330, Boston, MA 02111-1307, USA, or go to
22	http://www.gnu.org/copyleft/lesser.txt.
23
24	You may alternatively use this source under the terms of a specific version of
25	the OGRE Unrestricted License provided you have obtained such a license from
26	Torus Knot Software Ltd.
27	-----------------------------------------------------------------------------
28	*/
29	#ifndef __AxisAlignedBox_H_
30	#define __AxisAlignedBox_H_
31
32	// Precompiler options
33	#include "OgrePrerequisites.h"
34
35	#include "OgreVector3.h"
36	#include "OgreMatrix4.h"
37
38	namespace Ogre {
39
40	/** A 3D box aligned with the x/y/z axes.
41	@remarks
42	This class represents a simple box which is aligned with the
43	axes. Internally it only stores 2 points as the extremeties of
44	the box, one which is the minima of all 3 axes, and the other
45	which is the maxima of all 3 axes. This class is typically used
46	for an axis-aligned bounding box (AABB) for collision and
47	visibility determination.
48	*/
49	class _OgreExport AxisAlignedBox
50	{
51	protected:
52	enum Extent
53	{
54	EXTENT_NULL,
55	EXTENT_FINITE,
56	EXTENT_INFINITE
57	};
58
59	Vector3 mMinimum;
60	Vector3 mMaximum;
61	Extent mExtent;
62	mutable Vector3* mpCorners;
63
64	public:
65	/*
66	1-----2
67	/\| /\|
68	/ \| / \|
69	5-----4 \|
70	\| 0--\|--3
71	\| / \| /
72	\|/ \|/
73	6-----7
74	*/
75	typedef enum {
76	FAR_LEFT_BOTTOM = 0,
77	FAR_LEFT_TOP = 1,
78	FAR_RIGHT_TOP = 2,
79	FAR_RIGHT_BOTTOM = 3,
80	NEAR_RIGHT_BOTTOM = 7,
81	NEAR_LEFT_BOTTOM = 6,
82	NEAR_LEFT_TOP = 5,
83	NEAR_RIGHT_TOP = 4
84	} CornerEnum;
85	inline AxisAlignedBox() : mpCorners(0)
86	{
87	// Default to a null box
88	setMinimum( -0.5, -0.5, -0.5 );
89	setMaximum( 0.5, 0.5, 0.5 );
90	mExtent = EXTENT_NULL;
91	}
92
93	inline AxisAlignedBox(const AxisAlignedBox & rkBox) : mpCorners(0)
94	{
95	if (rkBox.isNull())
96	setNull();
97	else if (rkBox.isInfinite())
98	setInfinite();
99	else
100	setExtents( rkBox.mMinimum, rkBox.mMaximum );
101	}
102
103	inline AxisAlignedBox( const Vector3& min, const Vector3& max ) : mpCorners(0)
104	{
105	setExtents( min, max );
106	}
107
108	inline AxisAlignedBox(
109	Real mx, Real my, Real mz,
110	Real Mx, Real My, Real Mz ) : mpCorners(0)
111	{
112	setExtents( mx, my, mz, Mx, My, Mz );
113	}
114
115	AxisAlignedBox& operator=(const AxisAlignedBox& rhs)
116	{
117	// Specifically override to avoid copying mpCorners
118	if (rhs.isNull())
119	setNull();
120	else if (rhs.isInfinite())
121	setInfinite();
122	else
123	setExtents(rhs.mMinimum, rhs.mMaximum);
124
125	return *this;
126	}
127
128	~AxisAlignedBox()
129	{
130	if (mpCorners)
131	delete [] mpCorners;
132	}
133
134
135	/** Gets the minimum corner of the box.
136	*/
137	inline const Vector3& getMinimum(void) const
138	{
139	return mMinimum;
140	}
141
142	/** Gets a modifiable version of the minimum
143	corner of the box.
144	*/
145	inline Vector3& getMinimum(void)
146	{
147	return mMinimum;
148	}
149
150	/** Gets the maximum corner of the box.
151	*/
152	inline const Vector3& getMaximum(void) const
153	{
154	return mMaximum;
155	}
156
157	/** Gets a modifiable version of the maximum
158	corner of the box.
159	*/
160	inline Vector3& getMaximum(void)
161	{
162	return mMaximum;
163	}
164
165
166	/** Sets the minimum corner of the box.
167	*/
168	inline void setMinimum( const Vector3& vec )
169	{
170	mExtent = EXTENT_FINITE;
171	mMinimum = vec;
172	}
173
174	inline void setMinimum( Real x, Real y, Real z )
175	{
176	mExtent = EXTENT_FINITE;
177	mMinimum.x = x;
178	mMinimum.y = y;
179	mMinimum.z = z;
180	}
181
182	/** Changes one of the components of the minimum corner of the box
183	used to resize only one dimension of the box
184	*/
185	inline void setMinimumX(Real x)
186	{
187	mMinimum.x = x;
188	}
189
190	inline void setMinimumY(Real y)
191	{
192	mMinimum.y = y;
193	}
194
195	inline void setMinimumZ(Real z)
196	{
197	mMinimum.z = z;
198	}
199
200	/** Sets the maximum corner of the box.
201	*/
202	inline void setMaximum( const Vector3& vec )
203	{
204	mExtent = EXTENT_FINITE;
205	mMaximum = vec;
206	}
207
208	inline void setMaximum( Real x, Real y, Real z )
209	{
210	mExtent = EXTENT_FINITE;
211	mMaximum.x = x;
212	mMaximum.y = y;
213	mMaximum.z = z;
214	}
215
216	/** Changes one of the components of the maximum corner of the box
217	used to resize only one dimension of the box
218	*/
219	inline void setMaximumX( Real x )
220	{
221	mMaximum.x = x;
222	}
223
224	inline void setMaximumY( Real y )
225	{
226	mMaximum.y = y;
227	}
228
229	inline void setMaximumZ( Real z )
230	{
231	mMaximum.z = z;
232	}
233
234	/** Sets both minimum and maximum extents at once.
235	*/
236	inline void setExtents( const Vector3& min, const Vector3& max )
237	{
238	assert( (min.x <= max.x && min.y <= max.y && min.z <= max.z) &&
239	"The minimum corner of the box must be less than or equal to maximum corner" );
240
241	mExtent = EXTENT_FINITE;
242	mMinimum = min;
243	mMaximum = max;
244	}
245
246	inline void setExtents(
247	Real mx, Real my, Real mz,
248	Real Mx, Real My, Real Mz )
249	{
250	assert( (mx <= Mx && my <= My && mz <= Mz) &&
251	"The minimum corner of the box must be less than or equal to maximum corner" );
252
253	mExtent = EXTENT_FINITE;
254
255	mMinimum.x = mx;
256	mMinimum.y = my;
257	mMinimum.z = mz;
258
259	mMaximum.x = Mx;
260	mMaximum.y = My;
261	mMaximum.z = Mz;
262
263	}
264
265	/** Returns a pointer to an array of 8 corner points, useful for
266	collision vs. non-aligned objects.
267	@remarks
268	If the order of these corners is important, they are as
269	follows: The 4 points of the minimum Z face (note that
270	because Ogre uses right-handed coordinates, the minimum Z is
271	at the 'back' of the box) starting with the minimum point of
272	all, then anticlockwise around this face (if you are looking
273	onto the face from outside the box). Then the 4 points of the
274	maximum Z face, starting with maximum point of all, then
275	anticlockwise around this face (looking onto the face from
276	outside the box). Like this:
277	<pre>
278	1-----2
279	/\| /\|
280	/ \| / \|
281	5-----4 \|
282	\| 0--\|--3
283	\| / \| /
284	\|/ \|/
285	6-----7
286	</pre>
287	@remarks as this implementation uses a static member, make sure to use your own copy !
288	*/
289	inline const Vector3* getAllCorners(void) const
290	{
291	assert( (mExtent == EXTENT_FINITE) && "Can't get corners of a null or infinite AAB" );
292
293	// The order of these items is, using right-handed co-ordinates:
294	// Minimum Z face, starting with Min(all), then anticlockwise
295	// around face (looking onto the face)
296	// Maximum Z face, starting with Max(all), then anticlockwise
297	// around face (looking onto the face)
298	// Only for optimization/compatibility.
299	if (!mpCorners)
300	mpCorners = new Vector3[8];
301
302	mpCorners[0] = mMinimum;
303	mpCorners[1].x = mMinimum.x; mpCorners[1].y = mMaximum.y; mpCorners[1].z = mMinimum.z;
304	mpCorners[2].x = mMaximum.x; mpCorners[2].y = mMaximum.y; mpCorners[2].z = mMinimum.z;
305	mpCorners[3].x = mMaximum.x; mpCorners[3].y = mMinimum.y; mpCorners[3].z = mMinimum.z;
306
307	mpCorners[4] = mMaximum;
308	mpCorners[5].x = mMinimum.x; mpCorners[5].y = mMaximum.y; mpCorners[5].z = mMaximum.z;
309	mpCorners[6].x = mMinimum.x; mpCorners[6].y = mMinimum.y; mpCorners[6].z = mMaximum.z;
310	mpCorners[7].x = mMaximum.x; mpCorners[7].y = mMinimum.y; mpCorners[7].z = mMaximum.z;
311
312	return mpCorners;
313	}
314
315	/** gets the position of one of the corners
316	*/
317	Vector3 getCorner(CornerEnum cornerToGet) const
318	{
319	switch(cornerToGet)
320	{
321	case FAR_LEFT_BOTTOM:
322	return mMinimum;
323	case FAR_LEFT_TOP:
324	return Vector3(mMinimum.x, mMaximum.y, mMinimum.z);
325	case FAR_RIGHT_TOP:
326	return Vector3(mMaximum.x, mMaximum.y, mMinimum.z);
327	case FAR_RIGHT_BOTTOM:
328	return Vector3(mMaximum.x, mMinimum.y, mMinimum.z);
329	case NEAR_RIGHT_BOTTOM:
330	return Vector3(mMaximum.x, mMinimum.y, mMaximum.z);
331	case NEAR_LEFT_BOTTOM:
332	return Vector3(mMinimum.x, mMinimum.y, mMaximum.z);
333	case NEAR_LEFT_TOP:
334	return Vector3(mMinimum.x, mMaximum.y, mMaximum.z);
335	case NEAR_RIGHT_TOP:
336	return mMaximum;
337	default:
338	return Vector3();
339	}
340	}
341
342	_OgreExport friend std::ostream& operator<<( std::ostream& o, const AxisAlignedBox aab )
343	{
344	switch (aab.mExtent)
345	{
346	case EXTENT_NULL:
347	o << "AxisAlignedBox(null)";
348	return o;
349
350	case EXTENT_FINITE:
351	o << "AxisAlignedBox(min=" << aab.mMinimum << ", max=" << aab.mMaximum << ")";
352	return o;
353
354	case EXTENT_INFINITE:
355	o << "AxisAlignedBox(infinite)";
356	return o;
357
358	default: // shut up compiler
359	assert( false && "Never reached" );
360	return o;
361	}
362	}
363
364	/** Merges the passed in box into the current box. The result is the
365	box which encompasses both.
366	*/
367	void merge( const AxisAlignedBox& rhs )
368	{
369	// Do nothing if rhs null, or this is infinite
370	if ((rhs.mExtent == EXTENT_NULL) \|\| (mExtent == EXTENT_INFINITE))
371	{
372	return;
373	}
374	// Otherwise if rhs is infinite, make this infinite, too
375	else if (rhs.mExtent == EXTENT_INFINITE)
376	{
377	mExtent = EXTENT_INFINITE;
378	}
379	// Otherwise if current null, just take rhs
380	else if (mExtent == EXTENT_NULL)
381	{
382	setExtents(rhs.mMinimum, rhs.mMaximum);
383	}
384	// Otherwise merge
385	else
386	{
387	Vector3 min = mMinimum;
388	Vector3 max = mMaximum;
389	max.makeCeil(rhs.mMaximum);
390	min.makeFloor(rhs.mMinimum);
391
392	setExtents(min, max);
393	}
394
395	}
396
397	/** Extends the box to encompass the specified point (if needed).
398	*/
399	inline void merge( const Vector3& point )
400	{
401	switch (mExtent)
402	{
403	case EXTENT_NULL: // if null, use this point
404	setExtents(point, point);
405	return;
406
407	case EXTENT_FINITE:
408	mMaximum.makeCeil(point);
409	mMinimum.makeFloor(point);
410	return;
411
412	case EXTENT_INFINITE: // if infinite, makes no difference
413	return;
414	}
415
416	assert( false && "Never reached" );
417	}
418
419	/** Transforms the box according to the matrix supplied.
420	@remarks
421	By calling this method you get the axis-aligned box which
422	surrounds the transformed version of this box. Therefore each
423	corner of the box is transformed by the matrix, then the
424	extents are mapped back onto the axes to produce another
425	AABB. Useful when you have a local AABB for an object which
426	is then transformed.
427	*/
428	inline void transform( const Matrix4& matrix )
429	{
430	// Do nothing if current null or infinite
431	if( mExtent != EXTENT_FINITE )
432	return;
433
434	Vector3 oldMin, oldMax, currentCorner;
435
436	// Getting the old values so that we can use the existing merge method.
437	oldMin = mMinimum;
438	oldMax = mMaximum;
439
440	// reset
441	setNull();
442
443	// We sequentially compute the corners in the following order :
444	// 0, 6, 5, 1, 2, 4 ,7 , 3
445	// This sequence allows us to only change one member at a time to get at all corners.
446
447	// For each one, we transform it using the matrix
448	// Which gives the resulting point and merge the resulting point.
449
450	// First corner
451	// min min min
452	currentCorner = oldMin;
453	merge( matrix * currentCorner );
454
455	// min,min,max
456	currentCorner.z = oldMax.z;
457	merge( matrix * currentCorner );
458
459	// min max max
460	currentCorner.y = oldMax.y;
461	merge( matrix * currentCorner );
462
463	// min max min
464	currentCorner.z = oldMin.z;
465	merge( matrix * currentCorner );
466
467	// max max min
468	currentCorner.x = oldMax.x;
469	merge( matrix * currentCorner );
470
471	// max max max
472	currentCorner.z = oldMax.z;
473	merge( matrix * currentCorner );
474
475	// max min max
476	currentCorner.y = oldMin.y;
477	merge( matrix * currentCorner );
478
479	// max min min
480	currentCorner.z = oldMin.z;
481	merge( matrix * currentCorner );
482	}
483
484	/** Transforms the box according to the affine matrix supplied.
485	@remarks
486	By calling this method you get the axis-aligned box which
487	surrounds the transformed version of this box. Therefore each
488	corner of the box is transformed by the matrix, then the
489	extents are mapped back onto the axes to produce another
490	AABB. Useful when you have a local AABB for an object which
491	is then transformed.
492	@note
493	The matrix must be an affine matrix. @see Matrix4::isAffine.
494	*/
495	void transformAffine(const Matrix4& m)
496	{
497	assert(m.isAffine());
498
499	// Do nothing if current null or infinite
500	if ( mExtent != EXTENT_FINITE )
501	return;
502
503	Vector3 centre = getCenter();
504	Vector3 halfSize = getHalfSize();
505
506	Vector3 newCentre = m.transformAffine(centre);
507	Vector3 newHalfSize(
508	Math::Abs(m[0][0]) * halfSize.x + Math::Abs(m[0][1]) * halfSize.y + Math::Abs(m[0][2]) * halfSize.z,
509	Math::Abs(m[1][0]) * halfSize.x + Math::Abs(m[1][1]) * halfSize.y + Math::Abs(m[1][2]) * halfSize.z,
510	Math::Abs(m[2][0]) * halfSize.x + Math::Abs(m[2][1]) * halfSize.y + Math::Abs(m[2][2]) * halfSize.z);
511
512	setExtents(newCentre - newHalfSize, newCentre + newHalfSize);
513	}
514
515	/** Sets the box to a 'null' value i.e. not a box.
516	*/
517	inline void setNull()
518	{
519	mExtent = EXTENT_NULL;
520	}
521
522	/** Returns true if the box is null i.e. empty.
523	*/
524	inline bool isNull(void) const
525	{
526	return (mExtent == EXTENT_NULL);
527	}
528
529	/** Returns true if the box is finite.
530	*/
531	bool isFinite(void) const
532	{
533	return (mExtent == EXTENT_FINITE);
534	}
535
536	/** Sets the box to 'infinite'
537	*/
538	inline void setInfinite()
539	{
540	mExtent = EXTENT_INFINITE;
541	}
542
543	/** Returns true if the box is infinite.
544	*/
545	bool isInfinite(void) const
546	{
547	return (mExtent == EXTENT_INFINITE);
548	}
549
550	/** Returns whether or not this box intersects another. */
551	inline bool intersects(const AxisAlignedBox& b2) const
552	{
553	// Early-fail for nulls
554	if (this->isNull() \|\| b2.isNull())
555	return false;
556
557	// Early-success for infinites
558	if (this->isInfinite() \|\| b2.isInfinite())
559	return true;
560
561	// Use up to 6 separating planes
562	if (mMaximum.x < b2.mMinimum.x)
563	return false;
564	if (mMaximum.y < b2.mMinimum.y)
565	return false;
566	if (mMaximum.z < b2.mMinimum.z)
567	return false;
568
569	if (mMinimum.x > b2.mMaximum.x)
570	return false;
571	if (mMinimum.y > b2.mMaximum.y)
572	return false;
573	if (mMinimum.z > b2.mMaximum.z)
574	return false;
575
576	// otherwise, must be intersecting
577	return true;
578
579	}
580
581	/// Calculate the area of intersection of this box and another
582	inline AxisAlignedBox intersection(const AxisAlignedBox& b2) const
583	{
584	if (this->isNull() \|\| b2.isNull())
585	{
586	return AxisAlignedBox();
587	}
588	else if (this->isInfinite())
589	{
590	return b2;
591	}
592	else if (b2.isInfinite())
593	{
594	return *this;
595	}
596
597	Vector3 intMin = mMinimum;
598	Vector3 intMax = mMaximum;
599
600	intMin.makeCeil(b2.getMinimum());
601	intMax.makeFloor(b2.getMaximum());
602
603	// Check intersection isn't null
604	if (intMin.x < intMax.x &&
605	intMin.y < intMax.y &&
606	intMin.z < intMax.z)
607	{
608	return AxisAlignedBox(intMin, intMax);
609	}
610
611	return AxisAlignedBox();
612	}
613
614	/// Calculate the volume of this box
615	Real volume(void) const
616	{
617	switch (mExtent)
618	{
619	case EXTENT_NULL:
620	return 0.0f;
621
622	case EXTENT_FINITE:
623	{
624	Vector3 diff = mMaximum - mMinimum;
625	return diff.x * diff.y * diff.z;
626	}
627
628	case EXTENT_INFINITE:
629	return Math::POS_INFINITY;
630
631	default: // shut up compiler
632	assert( false && "Never reached" );
633	return 0.0f;
634	}
635	}
636
637	/** Scales the AABB by the vector given. */
638	inline void scale(const Vector3& s)
639	{
640	// Do nothing if current null or infinite
641	if (mExtent != EXTENT_FINITE)
642	return;
643
644	// NB assumes centered on origin
645	Vector3 min = mMinimum * s;
646	Vector3 max = mMaximum * s;
647	setExtents(min, max);
648	}
649
650	/** Tests whether this box intersects a sphere. */
651	bool intersects(const Sphere& s) const
652	{
653	return Math::intersects(s, *this);
654	}
655	/** Tests whether this box intersects a plane. */
656	bool intersects(const Plane& p) const
657	{
658	return Math::intersects(p, *this);
659	}
660	/** Tests whether the vector point is within this box. */
661	bool intersects(const Vector3& v) const
662	{
663	switch (mExtent)
664	{
665	case EXTENT_NULL:
666	return false;
667
668	case EXTENT_FINITE:
669	return(v.x >= mMinimum.x && v.x <= mMaximum.x &&
670	v.y >= mMinimum.y && v.y <= mMaximum.y &&
671	v.z >= mMinimum.z && v.z <= mMaximum.z);
672
673	case EXTENT_INFINITE:
674	return true;
675
676	default: // shut up compiler
677	assert( false && "Never reached" );
678	return false;
679	}
680	}
681	/// Gets the centre of the box
682	Vector3 getCenter(void) const
683	{
684	assert( (mExtent == EXTENT_FINITE) && "Can't get center of a null or infinite AAB" );
685
686	return Vector3(
687	(mMaximum.x + mMinimum.x) * 0.5,
688	(mMaximum.y + mMinimum.y) * 0.5,
689	(mMaximum.z + mMinimum.z) * 0.5);
690	}
691	/// Gets the size of the box
692	Vector3 getSize(void) const
693	{
694	switch (mExtent)
695	{
696	case EXTENT_NULL:
697	return Vector3::ZERO;
698
699	case EXTENT_FINITE:
700	return mMaximum - mMinimum;
701
702	case EXTENT_INFINITE:
703	return Vector3(
704	Math::POS_INFINITY,
705	Math::POS_INFINITY,
706	Math::POS_INFINITY);
707
708	default: // shut up compiler
709	assert( false && "Never reached" );
710	return Vector3::ZERO;
711	}
712	}
713	/// Gets the half-size of the box
714	Vector3 getHalfSize(void) const
715	{
716	switch (mExtent)
717	{
718	case EXTENT_NULL:
719	return Vector3::ZERO;
720
721	case EXTENT_FINITE:
722	return (mMaximum - mMinimum) * 0.5;
723
724	case EXTENT_INFINITE:
725	return Vector3(
726	Math::POS_INFINITY,
727	Math::POS_INFINITY,
728	Math::POS_INFINITY);
729
730	default: // shut up compiler
731	assert( false && "Never reached" );
732	return Vector3::ZERO;
733	}
734	}
735
736	/** Tests whether the given point contained by this box.
737	*/
738	bool contains(const Vector3& v) const
739	{
740	if (isNull())
741	return false;
742	if (isInfinite())
743	return true;
744
745	return mMinimum.x <= v.x && v.x <= mMaximum.x &&
746	mMinimum.y <= v.y && v.y <= mMaximum.y &&
747	mMinimum.z <= v.z && v.z <= mMaximum.z;
748	}
749
750	/** Tests whether another box contained by this box.
751	*/
752	bool contains(const AxisAlignedBox& other) const
753	{
754	if (other.isNull() \|\| this->isInfinite())
755	return true;
756
757	if (this->isNull() \|\| other.isInfinite())
758	return false;
759
760	return this->mMinimum.x <= other.mMinimum.x &&
761	this->mMinimum.y <= other.mMinimum.y &&
762	this->mMinimum.z <= other.mMinimum.z &&
763	other.mMaximum.x <= this->mMaximum.x &&
764	other.mMaximum.y <= this->mMaximum.y &&
765	other.mMaximum.z <= this->mMaximum.z;
766	}
767
768	/** Tests 2 boxes for equality.
769	*/
770	bool operator== (const AxisAlignedBox& rhs) const
771	{
772	if (this->mExtent != rhs.mExtent)
773	return false;
774
775	if (!this->isFinite())
776	return true;
777
778	return this->mMinimum == rhs.mMinimum &&
779	this->mMaximum == rhs.mMaximum;
780	}
781
782	/** Tests 2 boxes for inequality.
783	*/
784	bool operator!= (const AxisAlignedBox& rhs) const
785	{
786	return !(*this == rhs);
787	}
788
789	};
790
791	} // namespace Ogre
792
793	#endif

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