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Diffstat (limited to 'libs/ode-0.16.1/OPCODE/Ice/IceAABB.cpp')
| -rw-r--r-- | libs/ode-0.16.1/OPCODE/Ice/IceAABB.cpp | 405 |
1 files changed, 405 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceAABB.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceAABB.cpp new file mode 100644 index 0000000..d96cd88 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/Ice/IceAABB.cpp @@ -0,0 +1,405 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains AABB-related code. + * \file IceAABB.cpp + * \author Pierre Terdiman + * \date January, 29, 2000 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * AABB class. + * \class AABB + * \author Pierre Terdiman + * \version 1.0 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace IceMaths; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the sum of two AABBs. + * \param aabb [in] the other AABB + * \return Self-Reference + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABB& AABB::Add(const AABB& aabb) +{ + // Compute new min & max values + Point Min; GetMin(Min); + Point Tmp; aabb.GetMin(Tmp); + Min.Min(Tmp); + + Point Max; GetMax(Max); + aabb.GetMax(Tmp); + Max.Max(Tmp); + + // Update this + SetMinMax(Min, Max); + return *this; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Makes a cube from the AABB. + * \param cube [out] the cube AABB + * \return cube edge length + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +float AABB::MakeCube(AABB& cube) const +{ + Point Ext; GetExtents(Ext); + float Max = Ext.Max(); + + Point Cnt; GetCenter(Cnt); + cube.SetCenterExtents(Cnt, Point(Max, Max, Max)); + return Max; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Makes a sphere from the AABB. + * \param sphere [out] sphere containing the AABB + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABB::MakeSphere(Sphere& sphere) const +{ + GetExtents(sphere.mCenter); + sphere.mRadius = sphere.mCenter.Magnitude() * 1.00001f; // To make sure sphere::Contains(*this) succeeds + GetCenter(sphere.mCenter); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks a box is inside another box. + * \param box [in] the other AABB + * \return true if current box is inside input box + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABB::IsInside(const AABB& box) const +{ + if(box.GetMin(0)>GetMin(0)) return false; + if(box.GetMin(1)>GetMin(1)) return false; + if(box.GetMin(2)>GetMin(2)) return false; + if(box.GetMax(0)<GetMax(0)) return false; + if(box.GetMax(1)<GetMax(1)) return false; + if(box.GetMax(2)<GetMax(2)) return false; + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the AABB planes. + * \param planes [out] 6 planes surrounding the box + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABB::ComputePlanes(Plane* planes) const +{ + // Checkings + if(!planes) return false; + + Point Center, Extents; + GetCenter(Center); + GetExtents(Extents); + + // Writes normals + planes[0].n = Point(1.0f, 0.0f, 0.0f); + planes[1].n = Point(-1.0f, 0.0f, 0.0f); + planes[2].n = Point(0.0f, 1.0f, 0.0f); + planes[3].n = Point(0.0f, -1.0f, 0.0f); + planes[4].n = Point(0.0f, 0.0f, 1.0f); + planes[5].n = Point(0.0f, 0.0f, -1.0f); + + // Compute a point on each plane + Point p0 = Point(Center.x+Extents.x, Center.y, Center.z); + Point p1 = Point(Center.x-Extents.x, Center.y, Center.z); + Point p2 = Point(Center.x, Center.y+Extents.y, Center.z); + Point p3 = Point(Center.x, Center.y-Extents.y, Center.z); + Point p4 = Point(Center.x, Center.y, Center.z+Extents.z); + Point p5 = Point(Center.x, Center.y, Center.z-Extents.z); + + // Compute d + planes[0].d = -(planes[0].n|p0); + planes[1].d = -(planes[1].n|p1); + planes[2].d = -(planes[2].n|p2); + planes[3].d = -(planes[3].n|p3); + planes[4].d = -(planes[4].n|p4); + planes[5].d = -(planes[5].n|p5); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the aabb points. + * \param pts [out] 8 box points + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABB::ComputePoints(Point* pts) const +{ + // Checkings + if(!pts) return false; + + // Get box corners + Point min; GetMin(min); + Point max; GetMax(max); + + // 7+------+6 0 = --- + // /| /| 1 = +-- + // / | / | 2 = ++- + // / 4+---/--+5 3 = -+- + // 3+------+2 / y z 4 = --+ + // | / | / | / 5 = +-+ + // |/ |/ |/ 6 = +++ + // 0+------+1 *---x 7 = -++ + + // Generate 8 corners of the bbox + pts[0] = Point(min.x, min.y, min.z); + pts[1] = Point(max.x, min.y, min.z); + pts[2] = Point(max.x, max.y, min.z); + pts[3] = Point(min.x, max.y, min.z); + pts[4] = Point(min.x, min.y, max.z); + pts[5] = Point(max.x, min.y, max.z); + pts[6] = Point(max.x, max.y, max.z); + pts[7] = Point(min.x, max.y, max.z); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Gets vertex normals. + * \param pts [out] 8 box points + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const Point* AABB::GetVertexNormals() const +{ + static const float VertexNormals[] = + { + -INVSQRT3, -INVSQRT3, -INVSQRT3, + INVSQRT3, -INVSQRT3, -INVSQRT3, + INVSQRT3, INVSQRT3, -INVSQRT3, + -INVSQRT3, INVSQRT3, -INVSQRT3, + -INVSQRT3, -INVSQRT3, INVSQRT3, + INVSQRT3, -INVSQRT3, INVSQRT3, + INVSQRT3, INVSQRT3, INVSQRT3, + -INVSQRT3, INVSQRT3, INVSQRT3 + }; + return (const Point*)VertexNormals; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns edges. + * \return 24 indices (12 edges) indexing the list returned by ComputePoints() + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const udword* AABB::GetEdges() const +{ + static const udword Indices[] = { + 0, 1, 1, 2, 2, 3, 3, 0, + 7, 6, 6, 5, 5, 4, 4, 7, + 1, 5, 6, 2, + 3, 7, 4, 0 + }; + return Indices; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Returns edge normals. + * \return edge normals in local space + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +const Point* AABB::GetEdgeNormals() const +{ + static const float EdgeNormals[] = + { + 0, -INVSQRT2, -INVSQRT2, // 0-1 + INVSQRT2, 0, -INVSQRT2, // 1-2 + 0, INVSQRT2, -INVSQRT2, // 2-3 + -INVSQRT2, 0, -INVSQRT2, // 3-0 + + 0, INVSQRT2, INVSQRT2, // 7-6 + INVSQRT2, 0, INVSQRT2, // 6-5 + 0, -INVSQRT2, INVSQRT2, // 5-4 + -INVSQRT2, 0, INVSQRT2, // 4-7 + + INVSQRT2, -INVSQRT2, 0, // 1-5 + INVSQRT2, INVSQRT2, 0, // 6-2 + -INVSQRT2, INVSQRT2, 0, // 3-7 + -INVSQRT2, -INVSQRT2, 0 // 4-0 + }; + return (const Point*)EdgeNormals; +} + +// =========================================================================== +// (C) 1996-98 Vienna University of Technology +// =========================================================================== +// NAME: bboxarea +// TYPE: c++ code +// PROJECT: Bounding Box Area +// CONTENT: Computes area of 2D projection of 3D oriented bounding box +// VERSION: 1.0 +// =========================================================================== +// AUTHORS: ds Dieter Schmalstieg +// ep Erik Pojar +// =========================================================================== +// HISTORY: +// +// 19-sep-99 15:23:03 ds last modification +// 01-dec-98 15:23:03 ep created +// =========================================================================== + +//---------------------------------------------------------------------------- +// SAMPLE CODE STARTS HERE +//---------------------------------------------------------------------------- + +// NOTE: This sample program requires OPEN INVENTOR! + +//indexlist: this table stores the 64 possible cases of classification of +//the eyepoint with respect to the 6 defining planes of the bbox (2^6=64) +//only 26 (3^3-1, where 1 is "inside" cube) of these cases are valid. +//the first 6 numbers in each row are the indices of the bbox vertices that +//form the outline of which we want to compute the area (counterclockwise +//ordering), the 7th entry means the number of vertices in the outline. +//there are 6 cases with a single face and and a 4-vertex outline, and +//20 cases with 2 or 3 faces and a 6-vertex outline. a value of 0 indicates +//an invalid case. + + +// Original list was made of 7 items, I added an 8th element: +// - to padd on a cache line +// - to repeat the first entry to avoid modulos +// +// I also replaced original ints with sbytes. + +static const sbyte gIndexList[64][8] = +{ + {-1,-1,-1,-1,-1,-1,-1, 0}, // 0 inside + { 0, 4, 7, 3, 0,-1,-1, 4}, // 1 left + { 1, 2, 6, 5, 1,-1,-1, 4}, // 2 right + {-1,-1,-1,-1,-1,-1,-1, 0}, // 3 - + { 0, 1, 5, 4, 0,-1,-1, 4}, // 4 bottom + { 0, 1, 5, 4, 7, 3, 0, 6}, // 5 bottom, left + { 0, 1, 2, 6, 5, 4, 0, 6}, // 6 bottom, right + {-1,-1,-1,-1,-1,-1,-1, 0}, // 7 - + { 2, 3, 7, 6, 2,-1,-1, 4}, // 8 top + { 0, 4, 7, 6, 2, 3, 0, 6}, // 9 top, left + { 1, 2, 3, 7, 6, 5, 1, 6}, //10 top, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //11 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //12 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //13 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //14 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //15 - + { 0, 3, 2, 1, 0,-1,-1, 4}, //16 front + { 0, 4, 7, 3, 2, 1, 0, 6}, //17 front, left + { 0, 3, 2, 6, 5, 1, 0, 6}, //18 front, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //19 - + { 0, 3, 2, 1, 5, 4, 0, 6}, //20 front, bottom + { 1, 5, 4, 7, 3, 2, 1, 6}, //21 front, bottom, left + { 0, 3, 2, 6, 5, 4, 0, 6}, //22 front, bottom, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //23 - + { 0, 3, 7, 6, 2, 1, 0, 6}, //24 front, top + { 0, 4, 7, 6, 2, 1, 0, 6}, //25 front, top, left + { 0, 3, 7, 6, 5, 1, 0, 6}, //26 front, top, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //27 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //28 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //29 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //30 - + {-1,-1,-1,-1,-1,-1,-1, 0}, //31 - + { 4, 5, 6, 7, 4,-1,-1, 4}, //32 back + { 0, 4, 5, 6, 7, 3, 0, 6}, //33 back, left + { 1, 2, 6, 7, 4, 5, 1, 6}, //34 back, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //35 - + { 0, 1, 5, 6, 7, 4, 0, 6}, //36 back, bottom + { 0, 1, 5, 6, 7, 3, 0, 6}, //37 back, bottom, left + { 0, 1, 2, 6, 7, 4, 0, 6}, //38 back, bottom, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //39 - + { 2, 3, 7, 4, 5, 6, 2, 6}, //40 back, top + { 0, 4, 5, 6, 2, 3, 0, 6}, //41 back, top, left + { 1, 2, 3, 7, 4, 5, 1, 6}, //42 back, top, right + {-1,-1,-1,-1,-1,-1,-1, 0}, //43 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //44 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //45 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //46 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //47 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //48 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //49 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //50 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //51 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //52 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //53 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //54 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //55 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //56 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //57 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //58 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //59 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //60 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //61 invalid + {-1,-1,-1,-1,-1,-1,-1, 0}, //62 invalid + {-1,-1,-1,-1,-1,-1,-1, 0} //63 invalid +}; + +const sbyte* AABB::ComputeOutline(const Point& local_eye, sdword& num) const +{ + // Get box corners + Point min; GetMin(min); + Point max; GetMax(max); + + // Compute 6-bit code to classify eye with respect to the 6 defining planes of the bbox + int pos = ((local_eye.x < min.x) ? 1 : 0) // 1 = left + + ((local_eye.x > max.x) ? 2 : 0) // 2 = right + + ((local_eye.y < min.y) ? 4 : 0) // 4 = bottom + + ((local_eye.y > max.y) ? 8 : 0) // 8 = top + + ((local_eye.z < min.z) ? 16 : 0) // 16 = front + + ((local_eye.z > max.z) ? 32 : 0); // 32 = back + + // Look up number of vertices in outline + num = (sdword)gIndexList[pos][7]; + // Zero indicates invalid case + if(!num) return null; + + return &gIndexList[pos][0]; +} + +// calculateBoxArea: computes the screen-projected 2D area of an oriented 3D bounding box + +//const Point& eye, //eye point (in bbox object coordinates) +//const AABB& box, //3d bbox +//const Matrix4x4& mat, //free transformation for bbox +//float width, float height, int& num) +float AABB::ComputeBoxArea(const Point& eye, const Matrix4x4& mat, float width, float height, sdword& num) const +{ + const sbyte* Outline = ComputeOutline(eye, num); + if(!Outline) return -1.0f; + + // Compute box vertices + Point vertexBox[8], dst[8]; + ComputePoints(vertexBox); + + // Transform all outline corners into 2D screen space + for(sdword i=0;i<num;i++) + { + HPoint Projected; + vertexBox[Outline[i]].ProjectToScreen(width, height, mat, Projected); + dst[i] = Projected; + } + + float Sum = (dst[num-1][0] - dst[0][0]) * (dst[num-1][1] + dst[0][1]); + + for(int i=0; i<num-1; i++) + Sum += (dst[i][0] - dst[i+1][0]) * (dst[i][1] + dst[i+1][1]); + + return Sum * 0.5f; //return computed value corrected by 0.5 +} |