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#ifndef AABB_H
#define AABB_H
#include "Runtime/Math/Vector3.h"
#include "Runtime/Math/Matrix4x4.h"
class MinMaxAABB;
class Quaternionf;
class Matrix3x3f;
class AABB
{
public:
static const AABB zero;
public:
Vector3f m_Center;
Vector3f m_Extent;
AABB () {}
AABB (const Vector3f& c, const Vector3f& e) { m_Center = c; m_Extent = e; }
DECLARE_SERIALIZE_OPTIMIZE_TRANSFER (AABB)
AABB (const MinMaxAABB& aabb) { FromMinMaxAABB (aabb); }
AABB& operator = (const MinMaxAABB& aabb) { FromMinMaxAABB (aabb); return *this; }
bool operator == (const AABB& b) const { return m_Center == b.m_Center && m_Extent == b.m_Extent; }
void SetCenterAndExtent( const Vector3f& c, const Vector3f& e ) { m_Center = c; m_Extent = e; }
Vector3f& GetCenter () { return m_Center; }
Vector3f& GetExtent () { return m_Extent; }
float& GetExtent (int i) { return m_Extent[i]; }
const Vector3f& GetCenter ()const { return m_Center; }
const Vector3f& GetExtent ()const { return m_Extent; }
float GetExtent (int i)const { return m_Extent[i]; }
Vector3f GetMin () const { return m_Center - m_Extent; }
Vector3f GetMax () const { return m_Center + m_Extent; }
void Expand (float inValue);
bool IsValid () const;
bool IsInside (const Vector3f& inPoint) const;
void GetVertices (Vector3f* outVertices) const;
void EXPORT_COREMODULE Encapsulate (const Vector3f& inPoint);
private:
void FromMinMaxAABB (const MinMaxAABB& aabb);
};
bool IsContainedInAABB (const AABB& inside, const AABB& bigBounds);
// Find minimum AABB which includes both AABBs
MinMaxAABB AddAABB (const MinMaxAABB& lhs, const MinMaxAABB& rhs);
// Transforms AABB.
// Can be thought of as Converting OBB to an AABB:
// rotate the center and extents of the OBB And find the smallest enclosing AABB around it.
void TransformAABB (const AABB& aabb, const Vector3f& position, const Quaternionf& rotation, AABB& result);
/// This is not mathematically correct for non-uniform scaled objects. But it seems to work well enough.
/// If you use it with non-uniform scale make sure to verify it extensively.
EXPORT_COREMODULE void TransformAABB (const AABB& aabb, const Matrix4x4f& transform, AABB& result);
/// This version is much slower but works correctly with non-uniform scale
void TransformAABBSlow (const AABB& aabb, const Matrix4x4f& transform, AABB& result);
void InverseTransformAABB (const AABB& aabb, const Vector3f& position, const Quaternionf& rotation, AABB& result);
/// The closest distance to the surface or inside the aabb.
float CalculateSqrDistance (const Vector3f& rkPoint, const AABB& rkBox);
/// Returns the sqr distance and the closest point inside or on the surface of the aabb.
/// If inside the aabb, distance will be zero and rkPoint will be returned.
EXPORT_COREMODULE void CalculateClosestPoint (const Vector3f& rkPoint, const AABB& rkBox, Vector3f& outPoint, float& outSqrDistance);
class MinMaxAABB
{
public:
Vector3f m_Min;
Vector3f m_Max;
MinMaxAABB () { Init (); }
MinMaxAABB (Vector3f min, Vector3f max) : m_Min(min), m_Max(max) { };
MinMaxAABB (const AABB& aabb) { FromAABB (aabb); }
MinMaxAABB& operator = (const AABB& aabb) { FromAABB (aabb); return *this; }
//DECLARE_SERIALIZE_OPTIMIZE_TRANSFER (MinMaxAABB)
void Init ();
const Vector3f& GetMin () const { return m_Min; }
const Vector3f& GetMax () const { return m_Max; }
Vector3f GetCenter () const { return 0.5F * (m_Max + m_Min); }
Vector3f GetExtent () const { return 0.5F * (m_Max - m_Min); }
Vector3f GetSize () const { return (m_Max - m_Min); }
void Encapsulate (const Vector3f& inPoint);
void Encapsulate (const AABB& aabb);
void Encapsulate (const MinMaxAABB& other);
void Expand (float inValue);
void Expand (const Vector3f& inOffset);
// TODO : rename - it has different meaning than AABB::IsValid
bool IsValid () const;
bool IsInside (const Vector3f& inPoint) const;
void GetVertices( Vector3f outVertices[8] ) const;
private:
void FromAABB (const AABB& inAABB);
};
inline void AABB::Expand (float inValue)
{
m_Extent += Vector3f (inValue, inValue, inValue);
}
inline void AABB::FromMinMaxAABB (const MinMaxAABB& inAABB)
{
m_Center = (inAABB.GetMax () + inAABB.GetMin ()) * 0.5F;
m_Extent = (inAABB.GetMax () - inAABB.GetMin ()) * 0.5F;
}
inline bool AABB::IsValid () const
{
return IsFinite(m_Center) && IsFinite(m_Extent);
}
inline void MinMaxAABB::Encapsulate (const Vector3f& inPoint)
{
m_Min = min (m_Min, inPoint);
m_Max = max (m_Max, inPoint);
}
inline void MinMaxAABB::Encapsulate (const AABB& aabb)
{
Encapsulate (aabb.GetCenter()+aabb.GetExtent());
Encapsulate (aabb.GetCenter()-aabb.GetExtent());
}
inline void MinMaxAABB::Encapsulate (const MinMaxAABB& other)
{
m_Min = min (m_Min, other.m_Min);
m_Max = max (m_Max, other.m_Max);
}
inline void MinMaxAABB::Expand (float inValue)
{
Vector3f offset = Vector3f (inValue, inValue, inValue);
m_Min -= offset;
m_Max += offset;
}
inline void MinMaxAABB::Expand (const Vector3f& inOffset)
{
m_Min -= inOffset;
m_Max += inOffset;
}
inline bool MinMaxAABB::IsValid () const
{
return !(m_Min == Vector3f::infinityVec || m_Max == -Vector3f::infinityVec);
}
inline void MinMaxAABB::Init ()
{
m_Min = Vector3f::infinityVec;
m_Max = -Vector3f::infinityVec;
}
inline void MinMaxAABB::FromAABB (const AABB& inAABB)
{
m_Min = inAABB.GetCenter () - inAABB.GetExtent ();
m_Max = inAABB.GetCenter () + inAABB.GetExtent ();
}
template<class TransferFunction> inline
void AABB::Transfer (TransferFunction& transfer)
{
TRANSFER (m_Center);
TRANSFER (m_Extent);
}
/*template<class TransferFunction> inline
void MinMaxAABB::Transfer (TransferFunction& transfer)
{
TRANSFER (m_Min);
TRANSFER (m_Max);
}*/
#endif
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