450 lines
13 KiB
C
450 lines
13 KiB
C
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#ifndef __BV_BOUNDS_H__
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#define __BV_BOUNDS_H__
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/*
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===============================================================================
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Axis Aligned Bounding Box
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===============================================================================
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*/
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class idBounds {
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public:
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idBounds( void );
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explicit idBounds( const idVec3 &mins, const idVec3 &maxs );
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explicit idBounds( const idVec3 &point );
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const idVec3 & operator[]( const int index ) const;
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idVec3 & operator[]( const int index );
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idBounds operator+( const idVec3 &t ) const; // returns translated bounds
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idBounds & operator+=( const idVec3 &t ); // translate the bounds
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idBounds operator*( const idMat3 &r ) const; // returns rotated bounds
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idBounds & operator*=( const idMat3 &r ); // rotate the bounds
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idBounds operator+( const idBounds &a ) const;
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idBounds & operator+=( const idBounds &a );
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idBounds operator-( const idBounds &a ) const;
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idBounds & operator-=( const idBounds &a );
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bool Compare( const idBounds &a ) const; // exact compare, no epsilon
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bool Compare( const idBounds &a, const float epsilon ) const; // compare with epsilon
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bool operator==( const idBounds &a ) const; // exact compare, no epsilon
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bool operator!=( const idBounds &a ) const; // exact compare, no epsilon
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void Clear( void ); // inside out bounds
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void Zero( void ); // single point at origin
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idVec3 GetCenter( void ) const; // returns center of bounds
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float GetRadius( void ) const; // returns the radius relative to the bounds origin
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float GetRadius( const idVec3 ¢er ) const; // returns the radius relative to the given center
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float GetVolume( void ) const; // returns the volume of the bounds
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bool IsCleared( void ) const; // returns true if bounds are inside out
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bool AddPoint( const idVec3 &v ); // add the point, returns true if the bounds expanded
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bool AddBounds( const idBounds &a ); // add the bounds, returns true if the bounds expanded
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idBounds Intersect( const idBounds &a ) const; // return intersection of this bounds with the given bounds
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idBounds & IntersectSelf( const idBounds &a ); // intersect this bounds with the given bounds
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idBounds Expand( const float d ) const; // return bounds expanded in all directions with the given value
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idBounds & ExpandSelf( const float d ); // expand bounds in all directions with the given value
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// RAVEN BEGIN
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// jscott: for BSE
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idBounds & ExpandSelf( const idVec3 &d ); // expand bounds in all directions by the given vector
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const idVec3 Size( void ) const;
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float ShortestDistance( const idVec3 &point ) const;
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bool Contains( const idBounds &a ) const;
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// jscott: for material types
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int GetLargestAxis( void ) const;
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// abahr: can be used to get width of bounds
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idVec3 FindEdgePoint( const idVec3& dir ) const;
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idVec3 FindEdgePoint( const idVec3& start, const idVec3& dir ) const;
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idVec3 FindVectorToEdge( const idVec3& dir ) const;
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idVec3 FindVectorToEdge( const idVec3& start, const idVec3& dir ) const;
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// RAVEN END
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idBounds Translate( const idVec3 &translation ) const; // return translated bounds
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idBounds & TranslateSelf( const idVec3 &translation ); // translate this bounds
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idBounds Rotate( const idMat3 &rotation ) const; // return rotated bounds
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idBounds & RotateSelf( const idMat3 &rotation ); // rotate this bounds
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float PlaneDistance( const idPlane &plane ) const;
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int PlaneSide( const idPlane &plane, const float epsilon = ON_EPSILON ) const;
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bool ContainsPoint( const idVec3 &p ) const; // includes touching
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bool IntersectsBounds( const idBounds &a ) const; // includes touching
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bool LineIntersection( const idVec3 &start, const idVec3 &end ) const;
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// intersection point is start + dir * scale
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bool RayIntersection( const idVec3 &start, const idVec3 &dir, float &scale ) const;
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// most tight bounds for the given transformed bounds
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void FromTransformedBounds( const idBounds &bounds, const idVec3 &origin, const idMat3 &axis );
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// most tight bounds for a point set
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void FromPoints( const idVec3 *points, const int numPoints );
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// most tight bounds for a translation
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void FromPointTranslation( const idVec3 &point, const idVec3 &translation );
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void FromBoundsTranslation( const idBounds &bounds, const idVec3 &origin, const idMat3 &axis, const idVec3 &translation );
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// most tight bounds for a rotation
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void FromPointRotation( const idVec3 &point, const idRotation &rotation );
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void FromBoundsRotation( const idBounds &bounds, const idVec3 &origin, const idMat3 &axis, const idRotation &rotation );
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void ToPoints( idVec3 points[8] ) const;
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idSphere ToSphere( void ) const;
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void AxisProjection( const idVec3 &dir, float &min, float &max ) const;
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void AxisProjection( const idVec3 &origin, const idMat3 &axis, const idVec3 &dir, float &min, float &max ) const;
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idVec3 b[2];
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};
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extern idBounds bounds_zero;
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ID_INLINE idBounds::idBounds( void ) {
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}
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ID_INLINE idBounds::idBounds( const idVec3 &mins, const idVec3 &maxs ) {
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b[0] = mins;
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b[1] = maxs;
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}
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ID_INLINE idBounds::idBounds( const idVec3 &point ) {
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b[0] = point;
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b[1] = point;
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}
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ID_INLINE const idVec3 &idBounds::operator[]( const int index ) const {
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return b[index];
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}
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ID_INLINE idVec3 &idBounds::operator[]( const int index ) {
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return b[index];
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}
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ID_INLINE idBounds idBounds::operator+( const idVec3 &t ) const {
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return idBounds( b[0] + t, b[1] + t );
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}
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ID_INLINE idBounds &idBounds::operator+=( const idVec3 &t ) {
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b[0] += t;
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b[1] += t;
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return *this;
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}
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ID_INLINE idBounds idBounds::operator*( const idMat3 &r ) const {
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idBounds bounds;
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bounds.FromTransformedBounds( *this, vec3_origin, r );
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return bounds;
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}
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ID_INLINE idBounds &idBounds::operator*=( const idMat3 &r ) {
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this->FromTransformedBounds( *this, vec3_origin, r );
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return *this;
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}
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ID_INLINE idBounds idBounds::operator+( const idBounds &a ) const {
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idBounds newBounds;
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newBounds = *this;
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newBounds.AddBounds( a );
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return newBounds;
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}
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ID_INLINE idBounds &idBounds::operator+=( const idBounds &a ) {
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idBounds::AddBounds( a );
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return *this;
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}
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ID_INLINE idBounds idBounds::operator-( const idBounds &a ) const {
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assert( b[1][0] - b[0][0] > a.b[1][0] - a.b[0][0] &&
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b[1][1] - b[0][1] > a.b[1][1] - a.b[0][1] &&
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b[1][2] - b[0][2] > a.b[1][2] - a.b[0][2] );
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return idBounds( idVec3( b[0][0] + a.b[1][0], b[0][1] + a.b[1][1], b[0][2] + a.b[1][2] ),
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idVec3( b[1][0] + a.b[0][0], b[1][1] + a.b[0][1], b[1][2] + a.b[0][2] ) );
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}
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ID_INLINE idBounds &idBounds::operator-=( const idBounds &a ) {
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assert( b[1][0] - b[0][0] > a.b[1][0] - a.b[0][0] &&
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b[1][1] - b[0][1] > a.b[1][1] - a.b[0][1] &&
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b[1][2] - b[0][2] > a.b[1][2] - a.b[0][2] );
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b[0] += a.b[1];
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b[1] += a.b[0];
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return *this;
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}
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ID_INLINE bool idBounds::Compare( const idBounds &a ) const {
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return ( b[0].Compare( a.b[0] ) && b[1].Compare( a.b[1] ) );
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}
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ID_INLINE bool idBounds::Compare( const idBounds &a, const float epsilon ) const {
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return ( b[0].Compare( a.b[0], epsilon ) && b[1].Compare( a.b[1], epsilon ) );
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}
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ID_INLINE bool idBounds::operator==( const idBounds &a ) const {
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return Compare( a );
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}
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ID_INLINE bool idBounds::operator!=( const idBounds &a ) const {
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return !Compare( a );
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}
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ID_INLINE void idBounds::Clear( void ) {
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b[0][0] = b[0][1] = b[0][2] = idMath::INFINITY;
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b[1][0] = b[1][1] = b[1][2] = -idMath::INFINITY;
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}
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ID_INLINE void idBounds::Zero( void ) {
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b[0][0] = b[0][1] = b[0][2] =
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b[1][0] = b[1][1] = b[1][2] = 0;
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}
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ID_INLINE idVec3 idBounds::GetCenter( void ) const {
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return idVec3( ( b[1][0] + b[0][0] ) * 0.5f, ( b[1][1] + b[0][1] ) * 0.5f, ( b[1][2] + b[0][2] ) * 0.5f );
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}
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ID_INLINE float idBounds::GetVolume( void ) const {
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if ( b[0][0] >= b[1][0] || b[0][1] >= b[1][1] || b[0][2] >= b[1][2] ) {
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return 0.0f;
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}
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return ( ( b[1][0] - b[0][0] ) * ( b[1][1] - b[0][1] ) * ( b[1][2] - b[0][2] ) );
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}
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ID_INLINE bool idBounds::IsCleared( void ) const {
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return b[0][0] > b[1][0];
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}
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ID_INLINE bool idBounds::AddPoint( const idVec3 &v ) {
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bool expanded = false;
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if ( v[0] < b[0][0]) {
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b[0][0] = v[0];
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expanded = true;
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}
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if ( v[0] > b[1][0]) {
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b[1][0] = v[0];
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expanded = true;
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}
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if ( v[1] < b[0][1] ) {
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b[0][1] = v[1];
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expanded = true;
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}
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if ( v[1] > b[1][1]) {
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b[1][1] = v[1];
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expanded = true;
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}
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if ( v[2] < b[0][2] ) {
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b[0][2] = v[2];
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expanded = true;
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}
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if ( v[2] > b[1][2]) {
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b[1][2] = v[2];
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expanded = true;
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}
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return expanded;
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}
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ID_INLINE bool idBounds::AddBounds( const idBounds &a ) {
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bool expanded = false;
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if ( a.b[0][0] < b[0][0] ) {
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b[0][0] = a.b[0][0];
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expanded = true;
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}
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if ( a.b[0][1] < b[0][1] ) {
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b[0][1] = a.b[0][1];
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expanded = true;
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}
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if ( a.b[0][2] < b[0][2] ) {
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b[0][2] = a.b[0][2];
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expanded = true;
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}
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if ( a.b[1][0] > b[1][0] ) {
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b[1][0] = a.b[1][0];
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expanded = true;
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}
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if ( a.b[1][1] > b[1][1] ) {
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b[1][1] = a.b[1][1];
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expanded = true;
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}
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if ( a.b[1][2] > b[1][2] ) {
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b[1][2] = a.b[1][2];
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expanded = true;
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}
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return expanded;
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}
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ID_INLINE idBounds idBounds::Intersect( const idBounds &a ) const {
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idBounds n;
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n.b[0][0] = ( a.b[0][0] > b[0][0] ) ? a.b[0][0] : b[0][0];
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n.b[0][1] = ( a.b[0][1] > b[0][1] ) ? a.b[0][1] : b[0][1];
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n.b[0][2] = ( a.b[0][2] > b[0][2] ) ? a.b[0][2] : b[0][2];
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n.b[1][0] = ( a.b[1][0] < b[1][0] ) ? a.b[1][0] : b[1][0];
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n.b[1][1] = ( a.b[1][1] < b[1][1] ) ? a.b[1][1] : b[1][1];
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n.b[1][2] = ( a.b[1][2] < b[1][2] ) ? a.b[1][2] : b[1][2];
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return n;
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}
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ID_INLINE idBounds &idBounds::IntersectSelf( const idBounds &a ) {
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if ( a.b[0][0] > b[0][0] ) {
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b[0][0] = a.b[0][0];
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}
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if ( a.b[0][1] > b[0][1] ) {
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b[0][1] = a.b[0][1];
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}
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if ( a.b[0][2] > b[0][2] ) {
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b[0][2] = a.b[0][2];
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}
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if ( a.b[1][0] < b[1][0] ) {
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b[1][0] = a.b[1][0];
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}
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if ( a.b[1][1] < b[1][1] ) {
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b[1][1] = a.b[1][1];
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}
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if ( a.b[1][2] < b[1][2] ) {
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b[1][2] = a.b[1][2];
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}
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return *this;
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}
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ID_INLINE idBounds idBounds::Expand( const float d ) const {
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return idBounds( idVec3( b[0][0] - d, b[0][1] - d, b[0][2] - d ),
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idVec3( b[1][0] + d, b[1][1] + d, b[1][2] + d ) );
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}
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ID_INLINE idBounds &idBounds::ExpandSelf( const float d ) {
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b[0][0] -= d;
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b[0][1] -= d;
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b[0][2] -= d;
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b[1][0] += d;
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b[1][1] += d;
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b[1][2] += d;
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return *this;
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}
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// RAVEN BEGIN
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// jscott: for BSE
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ID_INLINE idBounds &idBounds::ExpandSelf( const idVec3 &d )
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{
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b[0][0] -= d[0];
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b[0][1] -= d[1];
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b[0][2] -= d[2];
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b[1][0] += d[0];
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b[1][1] += d[1];
|
||
|
|
b[1][2] += d[2];
|
||
|
|
return( *this );
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE const idVec3 idBounds::Size( void ) const
|
||
|
|
{
|
||
|
|
return( b[1] - b[0] );
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE bool idBounds::Contains( const idBounds &a ) const
|
||
|
|
{
|
||
|
|
int i;
|
||
|
|
|
||
|
|
for( i = 0; i < 3; i++ ) {
|
||
|
|
if( a[1][i] > b[1][i] ) {
|
||
|
|
return( false );
|
||
|
|
}
|
||
|
|
if( a[0][i] < b[0][i] ) {
|
||
|
|
return( false );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return( true );
|
||
|
|
}
|
||
|
|
|
||
|
|
// jscott: for material types
|
||
|
|
ID_INLINE int idBounds::GetLargestAxis( void ) const
|
||
|
|
{
|
||
|
|
idVec3 work = b[1] - b[0];
|
||
|
|
int axis = 0;
|
||
|
|
|
||
|
|
if( work[1] > work[0] )
|
||
|
|
{
|
||
|
|
axis = 1;
|
||
|
|
}
|
||
|
|
if( work[2] > work[axis] )
|
||
|
|
{
|
||
|
|
axis = 2;
|
||
|
|
}
|
||
|
|
return( axis );
|
||
|
|
}
|
||
|
|
// RAVEN END
|
||
|
|
|
||
|
|
ID_INLINE idBounds idBounds::Translate( const idVec3 &translation ) const {
|
||
|
|
return idBounds( b[0] + translation, b[1] + translation );
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE idBounds &idBounds::TranslateSelf( const idVec3 &translation ) {
|
||
|
|
b[0] += translation;
|
||
|
|
b[1] += translation;
|
||
|
|
return *this;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE idBounds idBounds::Rotate( const idMat3 &rotation ) const {
|
||
|
|
idBounds bounds;
|
||
|
|
bounds.FromTransformedBounds( *this, vec3_origin, rotation );
|
||
|
|
return bounds;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE idBounds &idBounds::RotateSelf( const idMat3 &rotation ) {
|
||
|
|
FromTransformedBounds( *this, vec3_origin, rotation );
|
||
|
|
return *this;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE bool idBounds::ContainsPoint( const idVec3 &p ) const {
|
||
|
|
if ( p[0] < b[0][0] || p[1] < b[0][1] || p[2] < b[0][2]
|
||
|
|
|| p[0] > b[1][0] || p[1] > b[1][1] || p[2] > b[1][2] ) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE bool idBounds::IntersectsBounds( const idBounds &a ) const {
|
||
|
|
if ( a.b[1][0] < b[0][0] || a.b[1][1] < b[0][1] || a.b[1][2] < b[0][2]
|
||
|
|
|| a.b[0][0] > b[1][0] || a.b[0][1] > b[1][1] || a.b[0][2] > b[1][2] ) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE idSphere idBounds::ToSphere( void ) const {
|
||
|
|
idSphere sphere;
|
||
|
|
sphere.SetOrigin( ( b[0] + b[1] ) * 0.5f );
|
||
|
|
sphere.SetRadius( ( b[1] - sphere.GetOrigin() ).Length() );
|
||
|
|
return sphere;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE void idBounds::AxisProjection( const idVec3 &dir, float &min, float &max ) const {
|
||
|
|
float d1, d2;
|
||
|
|
idVec3 center, extents;
|
||
|
|
|
||
|
|
center = ( b[0] + b[1] ) * 0.5f;
|
||
|
|
extents = b[1] - center;
|
||
|
|
|
||
|
|
d1 = dir * center;
|
||
|
|
d2 = idMath::Fabs( extents[0] * dir[0] ) +
|
||
|
|
idMath::Fabs( extents[1] * dir[1] ) +
|
||
|
|
idMath::Fabs( extents[2] * dir[2] );
|
||
|
|
|
||
|
|
min = d1 - d2;
|
||
|
|
max = d1 + d2;
|
||
|
|
}
|
||
|
|
|
||
|
|
ID_INLINE void idBounds::AxisProjection( const idVec3 &origin, const idMat3 &axis, const idVec3 &dir, float &min, float &max ) const {
|
||
|
|
float d1, d2;
|
||
|
|
idVec3 center, extents;
|
||
|
|
|
||
|
|
center = ( b[0] + b[1] ) * 0.5f;
|
||
|
|
extents = b[1] - center;
|
||
|
|
center = origin + center * axis;
|
||
|
|
|
||
|
|
d1 = dir * center;
|
||
|
|
d2 = idMath::Fabs( extents[0] * ( dir * axis[0] ) ) +
|
||
|
|
idMath::Fabs( extents[1] * ( dir * axis[1] ) ) +
|
||
|
|
idMath::Fabs( extents[2] * ( dir * axis[2] ) );
|
||
|
|
|
||
|
|
min = d1 - d2;
|
||
|
|
max = d1 + d2;
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* !__BV_BOUNDS_H__ */
|