/* =========================================================================== Doom 3 BFG Edition GPL Source Code Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company. This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code"). Doom 3 BFG Edition Source Code is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. Doom 3 BFG Edition Source Code is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Doom 3 BFG Edition Source Code. If not, see . In addition, the Doom 3 BFG Edition Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 BFG Edition Source Code. If not, please request a copy in writing from id Software at the address below. If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA. =========================================================================== */ #pragma hdrstop #include "../precompiled.h" idBox box_zero( vec3_zero, vec3_zero, mat3_identity ); /* 4---{4}---5 + /| /| Z {7} {8} {5} | - / | / {9} 7--{6}----6 | | | | | {11} 0---|-{0}-1 | / | / - | {3} {10} {1} Y |/ |/ + 3---{2}---2 - X + plane bits: 0 = min x 1 = max x 2 = min y 3 = max y 4 = min z 5 = max z */ /* static int boxVertPlanes[8] = { ( (1<<0) | (1<<2) | (1<<4) ), ( (1<<1) | (1<<2) | (1<<4) ), ( (1<<1) | (1<<3) | (1<<4) ), ( (1<<0) | (1<<3) | (1<<4) ), ( (1<<0) | (1<<2) | (1<<5) ), ( (1<<1) | (1<<2) | (1<<5) ), ( (1<<1) | (1<<3) | (1<<5) ), ( (1<<0) | (1<<3) | (1<<5) ) }; static int boxVertEdges[8][3] = { // bottom { 3, 0, 8 }, { 0, 1, 9 }, { 1, 2, 10 }, { 2, 3, 11 }, // top { 7, 4, 8 }, { 4, 5, 9 }, { 5, 6, 10 }, { 6, 7, 11 } }; static int boxEdgePlanes[12][2] = { // bottom { 4, 2 }, { 4, 1 }, { 4, 3 }, { 4, 0 }, // top { 5, 2 }, { 5, 1 }, { 5, 3 }, { 5, 0 }, // sides { 0, 2 }, { 2, 1 }, { 1, 3 }, { 3, 0 } }; static int boxEdgeVerts[12][2] = { // bottom { 0, 1 }, { 1, 2 }, { 2, 3 }, { 3, 0 }, // top { 4, 5 }, { 5, 6 }, { 6, 7 }, { 7, 4 }, // sides { 0, 4 }, { 1, 5 }, { 2, 6 }, { 3, 7 } }; */ static int boxPlaneBitsSilVerts[64][7] = { { 0, 0, 0, 0, 0, 0, 0 }, // 000000 = 0 { 4, 7, 4, 0, 3, 0, 0 }, // 000001 = 1 { 4, 5, 6, 2, 1, 0, 0 }, // 000010 = 2 { 0, 0, 0, 0, 0, 0, 0 }, // 000011 = 3 { 4, 4, 5, 1, 0, 0, 0 }, // 000100 = 4 { 6, 3, 7, 4, 5, 1, 0 }, // 000101 = 5 { 6, 4, 5, 6, 2, 1, 0 }, // 000110 = 6 { 0, 0, 0, 0, 0, 0, 0 }, // 000111 = 7 { 4, 6, 7, 3, 2, 0, 0 }, // 001000 = 8 { 6, 6, 7, 4, 0, 3, 2 }, // 001001 = 9 { 6, 5, 6, 7, 3, 2, 1 }, // 001010 = 10 { 0, 0, 0, 0, 0, 0, 0 }, // 001011 = 11 { 0, 0, 0, 0, 0, 0, 0 }, // 001100 = 12 { 0, 0, 0, 0, 0, 0, 0 }, // 001101 = 13 { 0, 0, 0, 0, 0, 0, 0 }, // 001110 = 14 { 0, 0, 0, 0, 0, 0, 0 }, // 001111 = 15 { 4, 0, 1, 2, 3, 0, 0 }, // 010000 = 16 { 6, 0, 1, 2, 3, 7, 4 }, // 010001 = 17 { 6, 3, 2, 6, 5, 1, 0 }, // 010010 = 18 { 0, 0, 0, 0, 0, 0, 0 }, // 010011 = 19 { 6, 1, 2, 3, 0, 4, 5 }, // 010100 = 20 { 6, 1, 2, 3, 7, 4, 5 }, // 010101 = 21 { 6, 2, 3, 0, 4, 5, 6 }, // 010110 = 22 { 0, 0, 0, 0, 0, 0, 0 }, // 010111 = 23 { 6, 0, 1, 2, 6, 7, 3 }, // 011000 = 24 { 6, 0, 1, 2, 6, 7, 4 }, // 011001 = 25 { 6, 0, 1, 5, 6, 7, 3 }, // 011010 = 26 { 0, 0, 0, 0, 0, 0, 0 }, // 011011 = 27 { 0, 0, 0, 0, 0, 0, 0 }, // 011100 = 28 { 0, 0, 0, 0, 0, 0, 0 }, // 011101 = 29 { 0, 0, 0, 0, 0, 0, 0 }, // 011110 = 30 { 0, 0, 0, 0, 0, 0, 0 }, // 011111 = 31 { 4, 7, 6, 5, 4, 0, 0 }, // 100000 = 32 { 6, 7, 6, 5, 4, 0, 3 }, // 100001 = 33 { 6, 5, 4, 7, 6, 2, 1 }, // 100010 = 34 { 0, 0, 0, 0, 0, 0, 0 }, // 100011 = 35 { 6, 4, 7, 6, 5, 1, 0 }, // 100100 = 36 { 6, 3, 7, 6, 5, 1, 0 }, // 100101 = 37 { 6, 4, 7, 6, 2, 1, 0 }, // 100110 = 38 { 0, 0, 0, 0, 0, 0, 0 }, // 100111 = 39 { 6, 6, 5, 4, 7, 3, 2 }, // 101000 = 40 { 6, 6, 5, 4, 0, 3, 2 }, // 101001 = 41 { 6, 5, 4, 7, 3, 2, 1 }, // 101010 = 42 { 0, 0, 0, 0, 0, 0, 0 }, // 101011 = 43 { 0, 0, 0, 0, 0, 0, 0 }, // 101100 = 44 { 0, 0, 0, 0, 0, 0, 0 }, // 101101 = 45 { 0, 0, 0, 0, 0, 0, 0 }, // 101110 = 46 { 0, 0, 0, 0, 0, 0, 0 }, // 101111 = 47 { 0, 0, 0, 0, 0, 0, 0 }, // 110000 = 48 { 0, 0, 0, 0, 0, 0, 0 }, // 110001 = 49 { 0, 0, 0, 0, 0, 0, 0 }, // 110010 = 50 { 0, 0, 0, 0, 0, 0, 0 }, // 110011 = 51 { 0, 0, 0, 0, 0, 0, 0 }, // 110100 = 52 { 0, 0, 0, 0, 0, 0, 0 }, // 110101 = 53 { 0, 0, 0, 0, 0, 0, 0 }, // 110110 = 54 { 0, 0, 0, 0, 0, 0, 0 }, // 110111 = 55 { 0, 0, 0, 0, 0, 0, 0 }, // 111000 = 56 { 0, 0, 0, 0, 0, 0, 0 }, // 111001 = 57 { 0, 0, 0, 0, 0, 0, 0 }, // 111010 = 58 { 0, 0, 0, 0, 0, 0, 0 }, // 111011 = 59 { 0, 0, 0, 0, 0, 0, 0 }, // 111100 = 60 { 0, 0, 0, 0, 0, 0, 0 }, // 111101 = 61 { 0, 0, 0, 0, 0, 0, 0 }, // 111110 = 62 { 0, 0, 0, 0, 0, 0, 0 }, // 111111 = 63 }; /* ============ idBox::AddPoint ============ */ bool idBox::AddPoint( const idVec3 &v ) { idMat3 axis2; idBounds bounds1, bounds2; if ( extents[0] < 0.0f ) { extents.Zero(); center = v; axis.Identity(); return true; } bounds1[0][0] = bounds1[1][0] = center * axis[0]; bounds1[0][1] = bounds1[1][1] = center * axis[1]; bounds1[0][2] = bounds1[1][2] = center * axis[2]; bounds1[0] -= extents; bounds1[1] += extents; if ( !bounds1.AddPoint( idVec3( v * axis[0], v * axis[1], v * axis[2] ) ) ) { // point is contained in the box return false; } axis2[0] = v - center; axis2[0].Normalize(); axis2[1] = axis[ Min3Index( axis2[0] * axis[0], axis2[0] * axis[1], axis2[0] * axis[2] ) ]; axis2[1] = axis2[1] - ( axis2[1] * axis2[0] ) * axis2[0]; axis2[1].Normalize(); axis2[2].Cross( axis2[0], axis2[1] ); AxisProjection( axis2, bounds2 ); bounds2.AddPoint( idVec3( v * axis2[0], v * axis2[1], v * axis2[2] ) ); // create new box based on the smallest bounds if ( bounds1.GetVolume() < bounds2.GetVolume() ) { center = ( bounds1[0] + bounds1[1] ) * 0.5f; extents = bounds1[1] - center; center *= axis; } else { center = ( bounds2[0] + bounds2[1] ) * 0.5f; extents = bounds2[1] - center; center *= axis2; axis = axis2; } return true; } /* ============ idBox::AddBox ============ */ bool idBox::AddBox( const idBox &a ) { int i, besti; float v, bestv; idVec3 dir; idMat3 ax[4]; idBounds bounds[4], b; if ( a.extents[0] < 0.0f ) { return false; } if ( extents[0] < 0.0f ) { center = a.center; extents = a.extents; axis = a.axis; return true; } // test axis of this box ax[0] = axis; bounds[0][0][0] = bounds[0][1][0] = center * ax[0][0]; bounds[0][0][1] = bounds[0][1][1] = center * ax[0][1]; bounds[0][0][2] = bounds[0][1][2] = center * ax[0][2]; bounds[0][0] -= extents; bounds[0][1] += extents; a.AxisProjection( ax[0], b ); if ( !bounds[0].AddBounds( b ) ) { // the other box is contained in this box return false; } // test axis of other box ax[1] = a.axis; bounds[1][0][0] = bounds[1][1][0] = a.center * ax[1][0]; bounds[1][0][1] = bounds[1][1][1] = a.center * ax[1][1]; bounds[1][0][2] = bounds[1][1][2] = a.center * ax[1][2]; bounds[1][0] -= a.extents; bounds[1][1] += a.extents; AxisProjection( ax[1], b ); if ( !bounds[1].AddBounds( b ) ) { // this box is contained in the other box center = a.center; extents = a.extents; axis = a.axis; return true; } // test axes aligned with the vector between the box centers and one of the box axis dir = a.center - center; dir.Normalize(); for ( i = 2; i < 4; i++ ) { ax[i][0] = dir; ax[i][1] = ax[i-2][ Min3Index( dir * ax[i-2][0], dir * ax[i-2][1], dir * ax[i-2][2] ) ]; ax[i][1] = ax[i][1] - ( ax[i][1] * dir ) * dir; ax[i][1].Normalize(); ax[i][2].Cross( dir, ax[i][1] ); AxisProjection( ax[i], bounds[i] ); a.AxisProjection( ax[i], b ); bounds[i].AddBounds( b ); } // get the bounds with the smallest volume bestv = idMath::INFINITY; besti = 0; for ( i = 0; i < 4; i++ ) { v = bounds[i].GetVolume(); if ( v < bestv ) { bestv = v; besti = i; } } // create a box from the smallest bounds axis pair center = ( bounds[besti][0] + bounds[besti][1] ) * 0.5f; extents = bounds[besti][1] - center; center *= ax[besti]; axis = ax[besti]; return false; } /* ================ idBox::PlaneDistance ================ */ float idBox::PlaneDistance( const idPlane &plane ) const { float d1, d2; d1 = plane.Distance( center ); d2 = idMath::Fabs( extents[0] * plane.Normal()[0] ) + idMath::Fabs( extents[1] * plane.Normal()[1] ) + idMath::Fabs( extents[2] * plane.Normal()[2] ); if ( d1 - d2 > 0.0f ) { return d1 - d2; } if ( d1 + d2 < 0.0f ) { return d1 + d2; } return 0.0f; } /* ================ idBox::PlaneSide ================ */ int idBox::PlaneSide( const idPlane &plane, const float epsilon ) const { float d1, d2; d1 = plane.Distance( center ); d2 = idMath::Fabs( extents[0] * plane.Normal()[0] ) + idMath::Fabs( extents[1] * plane.Normal()[1] ) + idMath::Fabs( extents[2] * plane.Normal()[2] ); if ( d1 - d2 > epsilon ) { return PLANESIDE_FRONT; } if ( d1 + d2 < -epsilon ) { return PLANESIDE_BACK; } return PLANESIDE_CROSS; } /* ============ idBox::IntersectsBox ============ */ bool idBox::IntersectsBox( const idBox &a ) const { idVec3 dir; // vector between centers float c[3][3]; // matrix c = axis.Transpose() * a.axis float ac[3][3]; // absolute values of c float axisdir[3]; // axis[i] * dir float d, e0, e1; // distance between centers and projected extents dir = a.center - center; // axis C0 + t * A0 c[0][0] = axis[0] * a.axis[0]; c[0][1] = axis[0] * a.axis[1]; c[0][2] = axis[0] * a.axis[2]; axisdir[0] = axis[0] * dir; ac[0][0] = idMath::Fabs( c[0][0] ); ac[0][1] = idMath::Fabs( c[0][1] ); ac[0][2] = idMath::Fabs( c[0][2] ); d = idMath::Fabs( axisdir[0] ); e0 = extents[0]; e1 = a.extents[0] * ac[0][0] + a.extents[1] * ac[0][1] + a.extents[2] * ac[0][2]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A1 c[1][0] = axis[1] * a.axis[0]; c[1][1] = axis[1] * a.axis[1]; c[1][2] = axis[1] * a.axis[2]; axisdir[1] = axis[1] * dir; ac[1][0] = idMath::Fabs( c[1][0] ); ac[1][1] = idMath::Fabs( c[1][1] ); ac[1][2] = idMath::Fabs( c[1][2] ); d = idMath::Fabs( axisdir[1] ); e0 = extents[1]; e1 = a.extents[0] * ac[1][0] + a.extents[1] * ac[1][1] + a.extents[2] * ac[1][2]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A2 c[2][0] = axis[2] * a.axis[0]; c[2][1] = axis[2] * a.axis[1]; c[2][2] = axis[2] * a.axis[2]; axisdir[2] = axis[2] * dir; ac[2][0] = idMath::Fabs( c[2][0] ); ac[2][1] = idMath::Fabs( c[2][1] ); ac[2][2] = idMath::Fabs( c[2][2] ); d = idMath::Fabs( axisdir[2] ); e0 = extents[2]; e1 = a.extents[0] * ac[2][0] + a.extents[1] * ac[2][1] + a.extents[2] * ac[2][2]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * B0 d = idMath::Fabs( a.axis[0] * dir ); e0 = extents[0] * ac[0][0] + extents[1] * ac[1][0] + extents[2] * ac[2][0]; e1 = a.extents[0]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * B1 d = idMath::Fabs( a.axis[1] * dir ); e0 = extents[0] * ac[0][1] + extents[1] * ac[1][1] + extents[2] * ac[2][1]; e1 = a.extents[1]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * B2 d = idMath::Fabs( a.axis[2] * dir ); e0 = extents[0] * ac[0][2] + extents[1] * ac[1][2] + extents[2] * ac[2][2]; e1 = a.extents[2]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A0xB0 d = idMath::Fabs( axisdir[2] * c[1][0] - axisdir[1] * c[2][0] ); e0 = extents[1] * ac[2][0] + extents[2] * ac[1][0]; e1 = a.extents[1] * ac[0][2] + a.extents[2] * ac[0][1]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A0xB1 d = idMath::Fabs( axisdir[2] * c[1][1] - axisdir[1] * c[2][1] ); e0 = extents[1] * ac[2][1] + extents[2] * ac[1][1]; e1 = a.extents[0] * ac[0][2] + a.extents[2] * ac[0][0]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A0xB2 d = idMath::Fabs( axisdir[2] * c[1][2] - axisdir[1] * c[2][2] ); e0 = extents[1] * ac[2][2] + extents[2] * ac[1][2]; e1 = a.extents[0] * ac[0][1] + a.extents[1] * ac[0][0]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A1xB0 d = idMath::Fabs( axisdir[0] * c[2][0] - axisdir[2] * c[0][0] ); e0 = extents[0] * ac[2][0] + extents[2] * ac[0][0]; e1 = a.extents[1] * ac[1][2] + a.extents[2] * ac[1][1]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A1xB1 d = idMath::Fabs( axisdir[0] * c[2][1] - axisdir[2] * c[0][1] ); e0 = extents[0] * ac[2][1] + extents[2] * ac[0][1]; e1 = a.extents[0] * ac[1][2] + a.extents[2] * ac[1][0]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A1xB2 d = idMath::Fabs( axisdir[0] * c[2][2] - axisdir[2] * c[0][2] ); e0 = extents[0] * ac[2][2] + extents[2] * ac[0][2]; e1 = a.extents[0] * ac[1][1] + a.extents[1] * ac[1][0]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A2xB0 d = idMath::Fabs( axisdir[1] * c[0][0] - axisdir[0] * c[1][0] ); e0 = extents[0] * ac[1][0] + extents[1] * ac[0][0]; e1 = a.extents[1] * ac[2][2] + a.extents[2] * ac[2][1]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A2xB1 d = idMath::Fabs( axisdir[1] * c[0][1] - axisdir[0] * c[1][1] ); e0 = extents[0] * ac[1][1] + extents[1] * ac[0][1]; e1 = a.extents[0] * ac[2][2] + a.extents[2] * ac[2][0]; if ( d > e0 + e1 ) { return false; } // axis C0 + t * A2xB2 d = idMath::Fabs( axisdir[1] * c[0][2] - axisdir[0] * c[1][2] ); e0 = extents[0] * ac[1][2] + extents[1] * ac[0][2]; e1 = a.extents[0] * ac[2][1] + a.extents[1] * ac[2][0]; if ( d > e0 + e1 ) { return false; } return true; } /* ============ idBox::LineIntersection Returns true if the line intersects the box between the start and end point. ============ */ bool idBox::LineIntersection( const idVec3 &start, const idVec3 &end ) const { float ld[3]; idVec3 lineDir = 0.5f * ( end - start ); idVec3 lineCenter = start + lineDir; idVec3 dir = lineCenter - center; ld[0] = idMath::Fabs( lineDir * axis[0] ); if ( idMath::Fabs( dir * axis[0] ) > extents[0] + ld[0] ) { return false; } ld[1] = idMath::Fabs( lineDir * axis[1] ); if ( idMath::Fabs( dir * axis[1] ) > extents[1] + ld[1] ) { return false; } ld[2] = idMath::Fabs( lineDir * axis[2] ); if ( idMath::Fabs( dir * axis[2] ) > extents[2] + ld[2] ) { return false; } idVec3 cross = lineDir.Cross( dir ); if ( idMath::Fabs( cross * axis[0] ) > extents[1] * ld[2] + extents[2] * ld[1] ) { return false; } if ( idMath::Fabs( cross * axis[1] ) > extents[0] * ld[2] + extents[2] * ld[0] ) { return false; } if ( idMath::Fabs( cross * axis[2] ) > extents[0] * ld[1] + extents[1] * ld[0] ) { return false; } return true; } /* ============ BoxPlaneClip ============ */ static bool BoxPlaneClip( const float denom, const float numer, float &scale0, float &scale1 ) { if ( denom > 0.0f ) { if ( numer > denom * scale1 ) { return false; } if ( numer > denom * scale0 ) { scale0 = numer / denom; } return true; } else if ( denom < 0.0f ) { if ( numer > denom * scale0 ) { return false; } if ( numer > denom * scale1 ) { scale1 = numer / denom; } return true; } else { return ( numer <= 0.0f ); } } /* ============ idBox::RayIntersection Returns true if the ray intersects the box. The ray can intersect the box in both directions from the start point. If start is inside the box then scale1 < 0 and scale2 > 0. ============ */ bool idBox::RayIntersection( const idVec3 &start, const idVec3 &dir, float &scale1, float &scale2 ) const { idVec3 localStart, localDir; localStart = ( start - center ) * axis.Transpose(); localDir = dir * axis.Transpose(); scale1 = -idMath::INFINITY; scale2 = idMath::INFINITY; return BoxPlaneClip( localDir.x, -localStart.x - extents[0], scale1, scale2 ) && BoxPlaneClip( -localDir.x, localStart.x - extents[0], scale1, scale2 ) && BoxPlaneClip( localDir.y, -localStart.y - extents[1], scale1, scale2 ) && BoxPlaneClip( -localDir.y, localStart.y - extents[1], scale1, scale2 ) && BoxPlaneClip( localDir.z, -localStart.z - extents[2], scale1, scale2 ) && BoxPlaneClip( -localDir.z, localStart.z - extents[2], scale1, scale2 ); } /* ============ idBox::FromPoints Tight box for a collection of points. ============ */ void idBox::FromPoints( const idVec3 *points, const int numPoints ) { int i; float invNumPoints, sumXX, sumXY, sumXZ, sumYY, sumYZ, sumZZ; idVec3 dir; idBounds bounds; idMatX eigenVectors; idVecX eigenValues; // compute mean of points center = points[0]; for ( i = 1; i < numPoints; i++ ) { center += points[i]; } invNumPoints = 1.0f / numPoints; center *= invNumPoints; // compute covariances of points sumXX = 0.0f; sumXY = 0.0f; sumXZ = 0.0f; sumYY = 0.0f; sumYZ = 0.0f; sumZZ = 0.0f; for ( i = 0; i < numPoints; i++ ) { dir = points[i] - center; sumXX += dir.x * dir.x; sumXY += dir.x * dir.y; sumXZ += dir.x * dir.z; sumYY += dir.y * dir.y; sumYZ += dir.y * dir.z; sumZZ += dir.z * dir.z; } sumXX *= invNumPoints; sumXY *= invNumPoints; sumXZ *= invNumPoints; sumYY *= invNumPoints; sumYZ *= invNumPoints; sumZZ *= invNumPoints; // compute eigenvectors for covariance matrix eigenValues.SetData( 3, VECX_ALLOCA( 3 ) ); eigenVectors.SetData( 3, 3, MATX_ALLOCA( 3 * 3 ) ); eigenVectors[0][0] = sumXX; eigenVectors[0][1] = sumXY; eigenVectors[0][2] = sumXZ; eigenVectors[1][0] = sumXY; eigenVectors[1][1] = sumYY; eigenVectors[1][2] = sumYZ; eigenVectors[2][0] = sumXZ; eigenVectors[2][1] = sumYZ; eigenVectors[2][2] = sumZZ; eigenVectors.Eigen_SolveSymmetric( eigenValues ); eigenVectors.Eigen_SortIncreasing( eigenValues ); axis[0][0] = eigenVectors[0][0]; axis[0][1] = eigenVectors[0][1]; axis[0][2] = eigenVectors[0][2]; axis[1][0] = eigenVectors[1][0]; axis[1][1] = eigenVectors[1][1]; axis[1][2] = eigenVectors[1][2]; axis[2][0] = eigenVectors[2][0]; axis[2][1] = eigenVectors[2][1]; axis[2][2] = eigenVectors[2][2]; extents[0] = eigenValues[0]; extents[1] = eigenValues[0]; extents[2] = eigenValues[0]; // refine by calculating the bounds of the points projected onto the axis and adjusting the center and extents bounds.Clear(); for ( i = 0; i < numPoints; i++ ) { bounds.AddPoint( idVec3( points[i] * axis[0], points[i] * axis[1], points[i] * axis[2] ) ); } center = ( bounds[0] + bounds[1] ) * 0.5f; extents = bounds[1] - center; center *= axis; } /* ============ idBox::FromPointTranslation Most tight box for the translational movement of the given point. ============ */ void idBox::FromPointTranslation( const idVec3 &point, const idVec3 &translation ) { // FIXME: implement } /* ============ idBox::FromBoxTranslation Most tight box for the translational movement of the given box. ============ */ void idBox::FromBoxTranslation( const idBox &box, const idVec3 &translation ) { // FIXME: implement } /* ============ idBox::FromPointRotation Most tight bounds for the rotational movement of the given point. ============ */ void idBox::FromPointRotation( const idVec3 &point, const idRotation &rotation ) { // FIXME: implement } /* ============ idBox::FromBoxRotation Most tight box for the rotational movement of the given box. ============ */ void idBox::FromBoxRotation( const idBox &box, const idRotation &rotation ) { // FIXME: implement } /* ============ idBox::ToPoints ============ */ void idBox::ToPoints( idVec3 points[8] ) const { idMat3 ax; idVec3 temp[4]; ax[0] = extents[0] * axis[0]; ax[1] = extents[1] * axis[1]; ax[2] = extents[2] * axis[2]; temp[0] = center - ax[0]; temp[1] = center + ax[0]; temp[2] = ax[1] - ax[2]; temp[3] = ax[1] + ax[2]; points[0] = temp[0] - temp[3]; points[1] = temp[1] - temp[3]; points[2] = temp[1] + temp[2]; points[3] = temp[0] + temp[2]; points[4] = temp[0] - temp[2]; points[5] = temp[1] - temp[2]; points[6] = temp[1] + temp[3]; points[7] = temp[0] + temp[3]; } /* ============ idBox::GetProjectionSilhouetteVerts ============ */ int idBox::GetProjectionSilhouetteVerts( const idVec3 &projectionOrigin, idVec3 silVerts[6] ) const { float f; int i, planeBits, *index; idVec3 points[8], dir1, dir2; ToPoints( points ); dir1 = points[0] - projectionOrigin; dir2 = points[6] - projectionOrigin; f = dir1 * axis[0]; planeBits = IEEE_FLT_SIGNBITNOTSET( f ); f = dir2 * axis[0]; planeBits |= IEEE_FLT_SIGNBITSET( f ) << 1; f = dir1 * axis[1]; planeBits |= IEEE_FLT_SIGNBITNOTSET( f ) << 2; f = dir2 * axis[1]; planeBits |= IEEE_FLT_SIGNBITSET( f ) << 3; f = dir1 * axis[2]; planeBits |= IEEE_FLT_SIGNBITNOTSET( f ) << 4; f = dir2 * axis[2]; planeBits |= IEEE_FLT_SIGNBITSET( f ) << 5; index = boxPlaneBitsSilVerts[planeBits]; for ( i = 0; i < index[0]; i++ ) { silVerts[i] = points[index[i+1]]; } return index[0]; } /* ============ idBox::GetParallelProjectionSilhouetteVerts ============ */ int idBox::GetParallelProjectionSilhouetteVerts( const idVec3 &projectionDir, idVec3 silVerts[6] ) const { float f; int i, planeBits, *index; idVec3 points[8]; ToPoints( points ); planeBits = 0; f = projectionDir * axis[0]; if ( IEEE_FLT_ISNOTZERO( f ) ) { planeBits = 1 << IEEE_FLT_SIGNBITSET( f ); } f = projectionDir * axis[1]; if ( IEEE_FLT_ISNOTZERO( f ) ) { planeBits |= 4 << IEEE_FLT_SIGNBITSET( f ); } f = projectionDir * axis[2]; if ( IEEE_FLT_ISNOTZERO( f ) ) { planeBits |= 16 << IEEE_FLT_SIGNBITSET( f ); } index = boxPlaneBitsSilVerts[planeBits]; for ( i = 0; i < index[0]; i++ ) { silVerts[i] = points[index[i+1]]; } return index[0]; }