568 lines
17 KiB
C++
568 lines
17 KiB
C++
/****************************************************************************
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* VCGLib o o *
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* Visual and Computer Graphics Library o o *
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* _ O _ *
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* Copyright(C) 2004 \/)\/ *
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* Visual Computing Lab /\/| *
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* ISTI - Italian National Research Council | *
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
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* for more details. *
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* *
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****************************************************************************/
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/****************************************************************************
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History
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$Log: not supported by cvs2svn $
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Revision 1.16 2007/03/22 18:12:00 pietroni
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*** empty log message ***
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Revision 1.15 2007/03/22 17:29:16 pietroni
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*** empty log message ***
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Revision 1.14 2006/11/13 13:03:45 ponchio
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Added GetBBox in Point3 (declaration) the body of the function is in box3.h
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Revision 1.13 2006/09/28 13:37:13 m_di_benedetto
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Added "const" to Collide()
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Revision 1.12 2006/07/06 12:42:10 ganovelli
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tolto il tipo enumerato axis
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Revision 1.11 2006/06/29 13:22:04 ganovelli
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Aggiunte funzioni che determinano il lato magiore (minore)
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Revision 1.10 2006/06/09 07:26:37 m_di_benedetto
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Added const qualifier to P() method.
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Revision 1.9 2005/09/30 15:03:57 cignoni
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Added Center-Radius Constructor
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Revision 1.8 2004/07/20 23:10:01 cignoni
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Uncommented Add of matrix transformed bbox
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Revision 1.7 2004/07/15 09:47:55 ganovelli
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added function P(int i) to list the box's vertices
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Revision 1.6 2004/07/07 23:26:25 cignoni
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removed the infamous Inflate. Now only Offset exists
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Revision 1.5 2004/03/05 17:51:28 tarini
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Errorino "ScalarType" -> "BoxScalarType"
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Revision 1.4 2004/03/03 14:32:13 cignoni
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Yet another cr lf mismatch
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Revision 1.3 2004/02/23 23:44:21 cignoni
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cr lf mismatch
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Revision 1.2 2004/02/19 15:40:56 cignoni
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Added doxygen groups
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Revision 1.1 2004/02/13 02:16:22 cignoni
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First working release.
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****************************************************************************/
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#ifndef __VCGLIB_BOX3
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#define __VCGLIB_BOX3
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#include <vcg/space/point3.h>
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#include <vcg/math/matrix44.h>
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#include <vcg/space/line3.h>
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#include <vcg/space/plane3.h>
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namespace vcg {
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/** \addtogroup space */
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/*@{*/
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/**
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Templated class for 3D boxes.
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This is the class for definition of a axis aligned bounding box in 3D space. It is stored just as two Point3
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@param BoxScalarType (template parameter) Specifies the type of scalar used to represent coords.
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*/
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template <class BoxScalarType>
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class Box3
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{
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public:
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/// The scalar type
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typedef BoxScalarType ScalarType;
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/// min coordinate point
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Point3<BoxScalarType> min;
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/// max coordinate point
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Point3<BoxScalarType> max;
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/// The bounding box constructor
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inline Box3() { min.X()= 1;max.X()= -1;min.Y()= 1;max.Y()= -1;min.Z()= 1;max.Z()= -1;}
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/// Copy constructor
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inline Box3( const Box3 & b ) { min=b.min; max=b.max; }
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/// Min Max constructor
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inline Box3( const Point3<BoxScalarType> & mi, const Point3<BoxScalarType> & ma ) { min = mi; max = ma; }
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/// Point Radius Constructor
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inline Box3(const Point3<BoxScalarType> & center, const BoxScalarType & radius) {
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min = center-Point3<BoxScalarType>(radius,radius,radius);
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max = center+Point3<BoxScalarType>(radius,radius,radius);
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}
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/// The bounding box distructor
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inline ~Box3() { }
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/// Operator to compare two bounding box
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inline bool operator == ( Box3<BoxScalarType> const & p ) const
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{
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return min==p.min && max==p.max;
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}
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/// Operator to dispare two bounding box
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inline bool operator != ( Box3<BoxScalarType> const & p ) const
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{
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return min!=p.min || max!=p.max;
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}
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/** Varia le dimensioni del bounding box scalandole rispetto al parametro scalare.
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@param s Valore scalare che indica di quanto deve variare il bounding box
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*/
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void Offset( const BoxScalarType s )
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{
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Offset( Point3<BoxScalarType> (s,s,s));
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}
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/** Varia le dimensioni del bounding box del valore fornito attraverso il parametro.
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@param delta Point in 3D space
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*/
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void Offset( const Point3<BoxScalarType> & delta )
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{
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min -= delta;
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max += delta;
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}
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/// Initializing the bounding box
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void Set( const Point3<BoxScalarType> & p )
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{
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min = max = p;
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}
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/// Set the bounding box to a null value
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void SetNull()
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{
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min.X()= 1; max.X()= -1;
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min.Y()= 1; max.Y()= -1;
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min.Z()= 1; max.Z()= -1;
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}
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/** Function to add two bounding box
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@param b Il bounding box che si vuole aggiungere
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*/
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void Add( Box3<BoxScalarType> const & b )
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{
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if(IsNull()) *this=b;
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else
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{
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if(min.X() > b.min.X()) min.X() = b.min.X();
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if(min.Y() > b.min.Y()) min.Y() = b.min.Y();
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if(min.Z() > b.min.Z()) min.Z() = b.min.Z();
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if(max.X() < b.max.X()) max.X() = b.max.X();
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if(max.Y() < b.max.Y()) max.Y() = b.max.Y();
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if(max.Z() < b.max.Z()) max.Z() = b.max.Z();
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}
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}
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/** Funzione per aggiungere un punto al bounding box. Il bounding box viene modificato se il punto
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cade fuori da esso.
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@param p The point 3D
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*/
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void Add( const Point3<BoxScalarType> & p )
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{
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if(IsNull()) Set(p);
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else
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{
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if(min.X() > p.X()) min.X() = p.X();
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if(min.Y() > p.Y()) min.Y() = p.Y();
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if(min.Z() > p.Z()) min.Z() = p.Z();
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if(max.X() < p.X()) max.X() = p.X();
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if(max.Y() < p.Y()) max.Y() = p.Y();
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if(max.Z() < p.Z()) max.Z() = p.Z();
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}
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}
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// Aggiunge ad un box un altro box trasformato secondo la matrice m
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void Add( const Matrix44<BoxScalarType> &m, const Box3<BoxScalarType> & b )
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{
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const Point3<BoxScalarType> &mn= b.min;
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const Point3<BoxScalarType> &mx= b.max;
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Add(m*(Point3<BoxScalarType>(mn[0],mn[1],mn[2])));
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Add(m*(Point3<BoxScalarType>(mx[0],mn[1],mn[2])));
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Add(m*(Point3<BoxScalarType>(mn[0],mx[1],mn[2])));
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Add(m*(Point3<BoxScalarType>(mx[0],mx[1],mn[2])));
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Add(m*(Point3<BoxScalarType>(mn[0],mn[1],mx[2])));
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Add(m*(Point3<BoxScalarType>(mx[0],mn[1],mx[2])));
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Add(m*(Point3<BoxScalarType>(mn[0],mx[1],mx[2])));
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Add(m*(Point3<BoxScalarType>(mx[0],mx[1],mx[2])));
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}
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/** Calcola l'intersezione tra due bounding box. Al bounding box viene assegnato il valore risultante.
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@param b Il bounding box con il quale si vuole effettuare l'intersezione
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*/
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void Intersect( const Box3<BoxScalarType> & b )
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{
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if(min.X() < b.min.X()) min.X() = b.min.X();
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if(min.Y() < b.min.Y()) min.Y() = b.min.Y();
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if(min.Z() < b.min.Z()) min.Z() = b.min.Z();
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if(max.X() > b.max.X()) max.X() = b.max.X();
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if(max.Y() > b.max.Y()) max.Y() = b.max.Y();
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if(max.Z() > b.max.Z()) max.Z() = b.max.Z();
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if(min.X()>max.X() || min.Y()>max.Y() || min.Z()>max.Z()) SetNull();
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}
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/** Trasla il bounding box di un valore definito dal parametro.
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@param p Il bounding box trasla sulla x e sulla y in base alle coordinate del parametro
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*/
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void Translate( const Point3<BoxScalarType> & p )
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{
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min += p;
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max += p;
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}
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/** Verifica se un punto appartiene ad un bounding box.
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@param p The point 3D
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@return True se p appartiene al bounding box, false altrimenti
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*/
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bool IsIn( Point3<BoxScalarType> const & p ) const
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{
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return (
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min.X() <= p.X() && p.X() <= max.X() &&
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min.Y() <= p.Y() && p.Y() <= max.Y() &&
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min.Z() <= p.Z() && p.Z() <= max.Z()
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);
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}
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/** Verifica se un punto appartiene ad un bounding box aperto sul max.
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@param p The point 3D
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@return True se p appartiene al bounding box, false altrimenti
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*/
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bool IsInEx( Point3<BoxScalarType> const & p ) const
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{
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return (
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min.X() <= p.X() && p.X() < max.X() &&
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min.Y() <= p.Y() && p.Y() < max.Y() &&
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min.Z() <= p.Z() && p.Z() < max.Z()
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);
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}
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/** Verifica se due bounding box collidono cioe' se hanno una intersezione non vuota. Per esempio
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due bounding box adiacenti non collidono.
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@param b A bounding box
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@return True se collidoo, false altrimenti
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*/
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/* old version
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bool Collide(Box3<BoxScalarType> const &b)
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{
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Box3<BoxScalarType> bb=*this;
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bb.Intersect(b);
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return bb.IsValid();
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}
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*/
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bool Collide(Box3<BoxScalarType> const &b) const
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{
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return b.min.X()<max.X() && b.max.X()>min.X() &&
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b.min.Y()<max.Y() && b.max.Y()>min.Y() &&
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b.min.Z()<max.Z() && b.max.Z()>min.Z() ;
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}
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/** Controlla se il bounding box e' nullo.
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@return True se il bounding box e' nullo, false altrimenti
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*/
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bool IsNull() const { return min.X()>max.X() || min.Y()>max.Y() || min.Z()>max.Z(); }
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/** Controlla se il bounding box e' vuoto.
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@return True se il bounding box e' vuoto, false altrimenti
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*/
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bool IsEmpty() const { return min==max; }
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/// Restituisce la lunghezza della diagonale del bounding box.
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BoxScalarType Diag() const
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{
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return Distance(min,max);
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}
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/// Calcola il quadrato della diagonale del bounding box.
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BoxScalarType SquaredDiag() const
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{
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return SquaredDistance(min,max);
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}
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/// Calcola il centro del bounding box.
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Point3<BoxScalarType> Center() const
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{
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return (min+max)/2;
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}
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/// Compute bounding box size.
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Point3<BoxScalarType> Dim() const
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{
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return (max-min);
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}
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/// Returns global coords of a local point expressed in [0..1]^3
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Point3<BoxScalarType> LocalToGlobal(Point3<BoxScalarType> const & p) const{
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return Point3<BoxScalarType>(
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min[0] + p[0]*(max[0]-min[0]),
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min[1] + p[1]*(max[1]-min[1]),
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min[2] + p[2]*(max[2]-min[2]));
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}
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/// Returns local coords expressed in [0..1]^3 of a point in 3D
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Point3<BoxScalarType> GlobalToLocal(Point3<BoxScalarType> const & p) const{
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return Point3<BoxScalarType>(
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(p[0]-min[0])/(max[0]-min[0]),
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(p[1]-min[1])/(max[1]-min[1]),
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(p[2]-min[2])/(max[2]-min[2])
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);
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}
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/// Calcola il volume del bounding box.
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BoxScalarType Volume() const
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{
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return (max.X()-min.X())*(max.Y()-min.Y())*(max.Z()-min.Z());
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}
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/// Calcola la dimensione del bounding box sulla x.
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inline BoxScalarType DimX() const { return max.X()-min.X();}
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/// Calcola la dimensione del bounding box sulla y.
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inline BoxScalarType DimY() const { return max.Y()-min.Y();}
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/// Calcola la dimensione del bounding box sulla z.
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inline BoxScalarType DimZ() const { return max.Z()-min.Z();}
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/// Calcola il lato di lunghezza maggiore
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inline unsigned char MaxDim() const {
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int i;
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Point3<BoxScalarType> diag = max-min;
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if(diag[0]>diag[1]) i=0; else i=1;
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return (diag[i]>diag[2])? i: 2;
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}
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/// Calcola il lato di lunghezza minore
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inline unsigned char MinDim() const {
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int i;
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Point3<BoxScalarType> diag = max-min;
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if(diag[0]<diag[1]) i=0; else i=1;
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return (diag[i]<diag[2])? i: 2;
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}
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template <class Q>
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inline void Import( const Box3<Q> & b )
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{
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min.Import(b.min);
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max.Import(b.max);
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}
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template <class Q>
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static inline Box3 Construct( const Box3<Q> & b )
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{
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return Box3(Point3<BoxScalarType>::Construct(b.min),Point3<BoxScalarType>::Construct(b.max));
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}
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/// gives the ith box vertex in order: (x,y,z),(X,y,z),(x,Y,z),(X,Y,z),(x,y,Z),(X,y,Z),(x,Y,Z),(X,Y,Z)
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Point3<BoxScalarType> P(const int & i) const {
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return Point3<BoxScalarType>(
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min[0]+ (i%2) * DimX(),
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min[1]+ ((i / 2)%2) * DimY(),
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min[2]+ (i>3)* DimZ());
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}
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}; // end class definition
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template <class T> Box3<T> Point3<T>::GetBBox(Box3<T> &bb) const {
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bb.Set( *this );
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}
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template <class ScalarType>
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ScalarType DistancePoint3Box3(const Point3<ScalarType> &test,
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const Box3<ScalarType> &bbox)
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{
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///if fall inside return zero
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if (bbox.IsIn(test))
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return 0;
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///find the right quandrant
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bool XM=(test.X()>=bbox.max.X());
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bool Xm=(test.X()<=bbox.min.X());
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bool YM=(test.Y()>=bbox.max.Y());
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bool Ym=(test.Y()<=bbox.min.Y());
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bool ZM=(test.Z()>=bbox.max.Z());
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bool Zm=(test.Z()<=bbox.min.Z());
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///VERTICES CASES
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if ((Xm)&&(Ym)&&(Zm))
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return ((test-bbox.P(0)).Norm());
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if ((Ym)&&(Zm)&&(XM))
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return ((test-bbox.P(1)).Norm());
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if ((Xm)&&(Zm)&&(YM))
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return ((test-bbox.P(2)).Norm());
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if ((XM)&&(YM)&&(Zm))
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return ((test-bbox.P(3)).Norm());
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if ((Xm)&&(Ym)&&(ZM))
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return ((test-bbox.P(4)).Norm());
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if ((XM)&&(ZM)&&(Ym))
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return ((test-bbox.P(5)).Norm());
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if ((YM)&&(ZM)&&(Xm))
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return ((test-bbox.P(6)).Norm());
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if ((XM)&&(YM)&&(ZM))
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return ((test-bbox.P(7)).Norm());
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bool Xin=((test.X()>=bbox.min.X())&&(test.X()<=bbox.max.X()));
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bool Yin=((test.Y()>=bbox.min.Y())&&(test.Y()<=bbox.max.Y()));
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bool Zin=((test.Z()>=bbox.min.Z())&&(test.Z()<=bbox.max.Z()));
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///EDGES CASES
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///edge case 0
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if ((Xin) &&(Ym)&&(Zm))
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{
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vcg::Line3<ScalarType> edge;
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vcg::Point3<ScalarType> dir=bbox.P(1)-bbox.P(0);
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dir.Normalize();
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edge.Set(bbox.P(0),dir);
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vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
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return ((test-clos).Norm());
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}
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///edge case 1
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if ((Zin)&&(XM)&&(Ym))
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{
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vcg::Line3<ScalarType> edge;
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vcg::Point3<ScalarType> dir=bbox.P(5)-bbox.P(1);
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dir.Normalize();
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edge.Set(bbox.P(1),dir);
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vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
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return ((test-clos).Norm());
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}
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///edge case 2
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if ((Xin)&&(Ym)&&(ZM))
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{
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vcg::Line3<ScalarType> edge;
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vcg::Point3<ScalarType> dir=bbox.P(5)-bbox.P(4);
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dir.Normalize();
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edge.Set(bbox.P(4),dir);
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vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
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return ((test-clos).Norm());
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}
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///edge case 3
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if ((Zin)&&(Xm)&&(Ym))
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{
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vcg::Line3<ScalarType> edge;
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vcg::Point3<ScalarType> dir=bbox.P(4)-bbox.P(0);
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dir.Normalize();
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edge.Set(bbox.P(0),dir);
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vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
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return ((test-clos).Norm());
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}
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|
///edge case 4
|
|
if ((Xin)&&(YM)&&(Zm))
|
|
{
|
|
vcg::Line3<ScalarType> edge;
|
|
vcg::Point3<ScalarType> dir=bbox.P(3)-bbox.P(2);
|
|
dir.Normalize();
|
|
edge.Set(bbox.P(2),dir);
|
|
vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
|
|
return ((test-clos).Norm());
|
|
}
|
|
///edge case 5
|
|
if ((Zin)&&(XM)&&(YM))
|
|
{
|
|
vcg::Line3<ScalarType> edge;
|
|
vcg::Point3<ScalarType> dir=bbox.P(7)-bbox.P(3);
|
|
dir.Normalize();
|
|
edge.Set(bbox.P(3),dir);
|
|
vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
|
|
return ((test-clos).Norm());
|
|
}
|
|
///edge case 6
|
|
if ((Xin)&&(ZM)&&(YM))
|
|
{
|
|
vcg::Line3<ScalarType> edge;
|
|
vcg::Point3<ScalarType> dir=bbox.P(7)-bbox.P(6);
|
|
dir.Normalize();
|
|
edge.Set(bbox.P(6),dir);
|
|
vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
|
|
return ((test-clos).Norm());
|
|
}
|
|
///edge case 7
|
|
if ((Zin)&&(Xm)&&(YM))
|
|
{
|
|
vcg::Line3<ScalarType> edge;
|
|
vcg::Point3<ScalarType> dir=bbox.P(6)-bbox.P(2);
|
|
dir.Normalize();
|
|
edge.Set(bbox.P(2),dir);
|
|
vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
|
|
return ((test-clos).Norm());
|
|
}
|
|
///edge case 8
|
|
if ((Yin)&&(Xm)&&(Zm))
|
|
{
|
|
vcg::Line3<ScalarType> edge;
|
|
vcg::Point3<ScalarType> dir=bbox.P(2)-bbox.P(0);
|
|
dir.Normalize();
|
|
edge.Set(bbox.P(0),dir);
|
|
vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
|
|
return ((test-clos).Norm());
|
|
}
|
|
///edge case 9
|
|
if ((Yin)&&(XM)&&(Zm))
|
|
{
|
|
vcg::Line3<ScalarType> edge;
|
|
vcg::Point3<ScalarType> dir=bbox.P(3)-bbox.P(1);
|
|
dir.Normalize();
|
|
edge.Set(bbox.P(1),dir);
|
|
vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
|
|
return ((test-clos).Norm());
|
|
}
|
|
///edge case 10
|
|
if ((Yin)&&(XM)&&(ZM))
|
|
{
|
|
vcg::Line3<ScalarType> edge;
|
|
vcg::Point3<ScalarType> dir=bbox.P(7)-bbox.P(5);
|
|
dir.Normalize();
|
|
edge.Set(bbox.P(5),dir);
|
|
vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
|
|
return ((test-clos).Norm());
|
|
}
|
|
///edge case 11
|
|
if ((Yin)&&(Xm)&&(ZM))
|
|
{
|
|
vcg::Line3<ScalarType> edge;
|
|
vcg::Point3<ScalarType> dir=bbox.P(6)-bbox.P(4);
|
|
dir.Normalize();
|
|
edge.Set(bbox.P(4),dir);
|
|
vcg::Point3<ScalarType> clos=vcg::ClosestPoint<ScalarType,true>(edge,test);
|
|
return ((test-clos).Norm());
|
|
}
|
|
|
|
///FACES CASES
|
|
//face 0
|
|
if ((Xin)&&(Zin)&&(Ym))
|
|
return (fabs(bbox.min.Y()-test.Y()));
|
|
//face 1
|
|
if ((Xin)&&(Zin)&&(YM))
|
|
return (fabs(bbox.min.Y()-test.Y()));
|
|
//face 2
|
|
if ((Xin)&&(Yin)&&(Zm))
|
|
return (fabs(bbox.min.Z()-test.Z()));
|
|
//face 3
|
|
if ((Xin)&&(Yin)&&(ZM))
|
|
return (fabs(bbox.min.Z()-test.Z()));
|
|
//face 4
|
|
if ((Yin)&&(Zin)&&(Xm))
|
|
return (fabs(bbox.min.X()-test.X()));
|
|
//face 5
|
|
if ((Yin)&&(Zin)&&(XM))
|
|
return (fabs(bbox.min.X()-test.X()));
|
|
|
|
//no more cases
|
|
assert(0);
|
|
}
|
|
|
|
|
|
typedef Box3<short> Box3s;
|
|
typedef Box3<int> Box3i;
|
|
typedef Box3<float> Box3f;
|
|
typedef Box3<double> Box3d;
|
|
|
|
|
|
/*@}*/
|
|
|
|
} // end namespace
|
|
#endif
|
|
|