249 lines
7.5 KiB
C
249 lines
7.5 KiB
C
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#ifndef __BV_SPHERE_H__
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#define __BV_SPHERE_H__
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/*
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===============================================================================
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Sphere
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===============================================================================
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*/
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class idSphere {
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public:
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idSphere( void );
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explicit idSphere( const idVec3 &point );
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explicit idSphere( const idVec3 &point, const float r );
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float operator[]( const int index ) const;
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float & operator[]( const int index );
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idSphere operator+( const idVec3 &t ) const; // returns tranlated sphere
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idSphere & operator+=( const idVec3 &t ); // translate the sphere
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idSphere operator+( const idSphere &s ) const;
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idSphere & operator+=( const idSphere &s );
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bool Compare( const idSphere &a ) const; // exact compare, no epsilon
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bool Compare( const idSphere &a, const float epsilon ) const; // compare with epsilon
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bool operator==( const idSphere &a ) const; // exact compare, no epsilon
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bool operator!=( const idSphere &a ) const; // exact compare, no epsilon
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void Clear( void ); // inside out sphere
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void Zero( void ); // single point at origin
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void SetOrigin( const idVec3 &o ); // set origin of sphere
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void SetRadius( const float r ); // set square radius
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const idVec3 & GetOrigin( void ) const; // returns origin of sphere
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float GetRadius( void ) const; // returns sphere radius
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bool IsCleared( void ) const; // returns true if sphere is inside out
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bool AddPoint( const idVec3 &p ); // add the point, returns true if the sphere expanded
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bool AddSphere( const idSphere &s ); // add the sphere, returns true if the sphere expanded
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idSphere Expand( const float d ) const; // return bounds expanded in all directions with the given value
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idSphere & ExpandSelf( const float d ); // expand bounds in all directions with the given value
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idSphere Translate( const idVec3 &translation ) const;
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idSphere & TranslateSelf( const idVec3 &translation );
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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 IntersectsSphere( const idSphere &s ) const; // includes touching
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bool LineIntersection( const idVec3 &start, const idVec3 &end ) const;
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// intersection points are (start + dir * scale1) and (start + dir * scale2)
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bool RayIntersection( const idVec3 &start, const idVec3 &dir, float &scale1, float &scale2 ) const;
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// Tight sphere for a point set.
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void FromPoints( const idVec3 *points, const int numPoints );
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// Most tight sphere for a translation.
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void FromPointTranslation( const idVec3 &point, const idVec3 &translation );
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void FromSphereTranslation( const idSphere &sphere, const idVec3 &start, const idVec3 &translation );
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// Most tight sphere for a rotation.
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void FromPointRotation( const idVec3 &point, const idRotation &rotation );
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void FromSphereRotation( const idSphere &sphere, const idVec3 &start, const idRotation &rotation );
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void AxisProjection( const idVec3 &dir, float &min, float &max ) const;
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private:
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idVec3 origin;
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float radius;
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};
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extern idSphere sphere_zero;
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ID_INLINE idSphere::idSphere( void ) {
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}
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ID_INLINE idSphere::idSphere( const idVec3 &point ) {
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origin = point;
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radius = 0.0f;
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}
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ID_INLINE idSphere::idSphere( const idVec3 &point, const float r ) {
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origin = point;
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radius = r;
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}
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ID_INLINE float idSphere::operator[]( const int index ) const {
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return ((float *) &origin)[index];
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}
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ID_INLINE float &idSphere::operator[]( const int index ) {
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return ((float *) &origin)[index];
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}
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ID_INLINE idSphere idSphere::operator+( const idVec3 &t ) const {
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return idSphere( origin + t, radius );
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}
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ID_INLINE idSphere &idSphere::operator+=( const idVec3 &t ) {
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origin += t;
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return *this;
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}
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ID_INLINE bool idSphere::Compare( const idSphere &a ) const {
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return ( origin.Compare( a.origin ) && radius == a.radius );
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}
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ID_INLINE bool idSphere::Compare( const idSphere &a, const float epsilon ) const {
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return ( origin.Compare( a.origin, epsilon ) && idMath::Fabs( radius - a.radius ) <= epsilon );
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}
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ID_INLINE bool idSphere::operator==( const idSphere &a ) const {
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return Compare( a );
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}
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ID_INLINE bool idSphere::operator!=( const idSphere &a ) const {
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return !Compare( a );
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}
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ID_INLINE void idSphere::Clear( void ) {
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origin.Zero();
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radius = -1.0f;
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}
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ID_INLINE void idSphere::Zero( void ) {
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origin.Zero();
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radius = 0.0f;
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}
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ID_INLINE void idSphere::SetOrigin( const idVec3 &o ) {
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origin = o;
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}
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ID_INLINE void idSphere::SetRadius( const float r ) {
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radius = r;
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}
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ID_INLINE const idVec3 &idSphere::GetOrigin( void ) const {
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return origin;
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}
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ID_INLINE float idSphere::GetRadius( void ) const {
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return radius;
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}
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ID_INLINE bool idSphere::IsCleared( void ) const {
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return ( radius < 0.0f );
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}
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ID_INLINE bool idSphere::AddPoint( const idVec3 &p ) {
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if ( radius < 0.0f ) {
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origin = p;
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radius = 0.0f;
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return true;
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}
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else {
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float r = ( p - origin ).LengthSqr();
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if ( r > radius * radius ) {
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r = idMath::Sqrt( r );
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origin += ( p - origin ) * 0.5f * (1.0f - radius / r );
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radius += 0.5f * ( r - radius );
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return true;
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}
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return false;
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}
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}
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ID_INLINE bool idSphere::AddSphere( const idSphere &s ) {
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if ( radius < 0.0f ) {
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origin = s.origin;
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radius = s.radius;
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return true;
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}
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else {
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float r = ( s.origin - origin ).LengthSqr();
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if ( r > ( radius + s.radius ) * ( radius + s.radius ) ) {
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r = idMath::Sqrt( r );
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origin += ( s.origin - origin ) * 0.5f * (1.0f - radius / ( r + s.radius ) );
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radius += 0.5f * ( ( r + s.radius ) - radius );
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return true;
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}
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return false;
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}
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}
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ID_INLINE idSphere idSphere::Expand( const float d ) const {
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return idSphere( origin, radius + d );
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}
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ID_INLINE idSphere &idSphere::ExpandSelf( const float d ) {
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radius += d;
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return *this;
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}
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ID_INLINE idSphere idSphere::Translate( const idVec3 &translation ) const {
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return idSphere( origin + translation, radius );
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}
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ID_INLINE idSphere &idSphere::TranslateSelf( const idVec3 &translation ) {
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origin += translation;
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return *this;
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}
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ID_INLINE bool idSphere::ContainsPoint( const idVec3 &p ) const {
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if ( ( p - origin ).LengthSqr() > radius * radius ) {
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return false;
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}
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return true;
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}
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ID_INLINE bool idSphere::IntersectsSphere( const idSphere &s ) const {
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float r = s.radius + radius;
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if ( ( s.origin - origin ).LengthSqr() > r * r ) {
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return false;
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}
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return true;
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}
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ID_INLINE void idSphere::FromPointTranslation( const idVec3 &point, const idVec3 &translation ) {
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origin = point + 0.5f * translation;
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radius = idMath::Sqrt( 0.5f * translation.LengthSqr() );
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}
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ID_INLINE void idSphere::FromSphereTranslation( const idSphere &sphere, const idVec3 &start, const idVec3 &translation ) {
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origin = start + sphere.origin + 0.5f * translation;
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radius = idMath::Sqrt( 0.5f * translation.LengthSqr() ) + sphere.radius;
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}
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ID_INLINE void idSphere::FromPointRotation( const idVec3 &point, const idRotation &rotation ) {
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idVec3 end = rotation * point;
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origin = ( point + end ) * 0.5f;
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radius = idMath::Sqrt( 0.5f * ( end - point ).LengthSqr() );
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}
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ID_INLINE void idSphere::FromSphereRotation( const idSphere &sphere, const idVec3 &start, const idRotation &rotation ) {
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idVec3 end = rotation * sphere.origin;
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origin = start + ( sphere.origin + end ) * 0.5f;
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radius = idMath::Sqrt( 0.5f * ( end - sphere.origin ).LengthSqr() ) + sphere.radius;
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}
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ID_INLINE void idSphere::AxisProjection( const idVec3 &dir, float &min, float &max ) const {
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float d;
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d = dir * origin;
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min = d - radius;
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max = d + radius;
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}
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#endif /* !__BV_SPHERE_H__ */
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