821 lines
21 KiB
C++
821 lines
21 KiB
C++
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#include "../precompiled.h"
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#pragma hdrstop
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idBox box_zero( vec3_zero, vec3_zero, mat3_identity );
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/*
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4---{4}---5
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+ /| /|
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Z {7} {8} {5} |
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- / | / {9}
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7--{6}----6 |
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| | | |
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{11} 0---|-{0}-1
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| / | / -
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| {3} {10} {1} Y
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|/ |/ +
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3---{2}---2
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- X +
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plane bits:
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0 = min x
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1 = max x
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2 = min y
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3 = max y
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4 = min z
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5 = max z
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*/
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static int boxVertPlanes[8] = {
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( (1<<0) | (1<<2) | (1<<4) ),
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( (1<<1) | (1<<2) | (1<<4) ),
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( (1<<1) | (1<<3) | (1<<4) ),
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( (1<<0) | (1<<3) | (1<<4) ),
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( (1<<0) | (1<<2) | (1<<5) ),
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( (1<<1) | (1<<2) | (1<<5) ),
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( (1<<1) | (1<<3) | (1<<5) ),
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( (1<<0) | (1<<3) | (1<<5) )
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};
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static int boxVertEdges[8][3] = {
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// bottom
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{ 3, 0, 8 },
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{ 0, 1, 9 },
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{ 1, 2, 10 },
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{ 2, 3, 11 },
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// top
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{ 7, 4, 8 },
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{ 4, 5, 9 },
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{ 5, 6, 10 },
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{ 6, 7, 11 }
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};
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static int boxEdgePlanes[12][2] = {
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// bottom
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{ 4, 2 },
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{ 4, 1 },
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{ 4, 3 },
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{ 4, 0 },
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// top
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{ 5, 2 },
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{ 5, 1 },
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{ 5, 3 },
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{ 5, 0 },
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// sides
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{ 0, 2 },
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{ 2, 1 },
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{ 1, 3 },
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{ 3, 0 }
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};
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static int boxEdgeVerts[12][2] = {
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// bottom
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{ 0, 1 },
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{ 1, 2 },
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{ 2, 3 },
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{ 3, 0 },
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// top
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{ 4, 5 },
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{ 5, 6 },
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{ 6, 7 },
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{ 7, 4 },
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// sides
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{ 0, 4 },
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{ 1, 5 },
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{ 2, 6 },
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{ 3, 7 }
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};
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static int boxPlaneBitsSilVerts[64][7] = {
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{ 0, 0, 0, 0, 0, 0, 0 }, // 000000 = 0
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{ 4, 7, 4, 0, 3, 0, 0 }, // 000001 = 1
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{ 4, 5, 6, 2, 1, 0, 0 }, // 000010 = 2
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{ 0, 0, 0, 0, 0, 0, 0 }, // 000011 = 3
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{ 4, 4, 5, 1, 0, 0, 0 }, // 000100 = 4
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{ 6, 3, 7, 4, 5, 1, 0 }, // 000101 = 5
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{ 6, 4, 5, 6, 2, 1, 0 }, // 000110 = 6
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{ 0, 0, 0, 0, 0, 0, 0 }, // 000111 = 7
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{ 4, 6, 7, 3, 2, 0, 0 }, // 001000 = 8
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{ 6, 6, 7, 4, 0, 3, 2 }, // 001001 = 9
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{ 6, 5, 6, 7, 3, 2, 1 }, // 001010 = 10
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{ 0, 0, 0, 0, 0, 0, 0 }, // 001011 = 11
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{ 0, 0, 0, 0, 0, 0, 0 }, // 001100 = 12
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{ 0, 0, 0, 0, 0, 0, 0 }, // 001101 = 13
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{ 0, 0, 0, 0, 0, 0, 0 }, // 001110 = 14
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{ 0, 0, 0, 0, 0, 0, 0 }, // 001111 = 15
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{ 4, 0, 1, 2, 3, 0, 0 }, // 010000 = 16
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{ 6, 0, 1, 2, 3, 7, 4 }, // 010001 = 17
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{ 6, 3, 2, 6, 5, 1, 0 }, // 010010 = 18
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{ 0, 0, 0, 0, 0, 0, 0 }, // 010011 = 19
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{ 6, 1, 2, 3, 0, 4, 5 }, // 010100 = 20
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{ 6, 1, 2, 3, 7, 4, 5 }, // 010101 = 21
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{ 6, 2, 3, 0, 4, 5, 6 }, // 010110 = 22
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{ 0, 0, 0, 0, 0, 0, 0 }, // 010111 = 23
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{ 6, 0, 1, 2, 6, 7, 3 }, // 011000 = 24
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{ 6, 0, 1, 2, 6, 7, 4 }, // 011001 = 25
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{ 6, 0, 1, 5, 6, 7, 3 }, // 011010 = 26
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{ 0, 0, 0, 0, 0, 0, 0 }, // 011011 = 27
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{ 0, 0, 0, 0, 0, 0, 0 }, // 011100 = 28
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{ 0, 0, 0, 0, 0, 0, 0 }, // 011101 = 29
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{ 0, 0, 0, 0, 0, 0, 0 }, // 011110 = 30
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{ 0, 0, 0, 0, 0, 0, 0 }, // 011111 = 31
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{ 4, 7, 6, 5, 4, 0, 0 }, // 100000 = 32
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{ 6, 7, 6, 5, 4, 0, 3 }, // 100001 = 33
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{ 6, 5, 4, 7, 6, 2, 1 }, // 100010 = 34
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{ 0, 0, 0, 0, 0, 0, 0 }, // 100011 = 35
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{ 6, 4, 7, 6, 5, 1, 0 }, // 100100 = 36
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{ 6, 3, 7, 6, 5, 1, 0 }, // 100101 = 37
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{ 6, 4, 7, 6, 2, 1, 0 }, // 100110 = 38
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{ 0, 0, 0, 0, 0, 0, 0 }, // 100111 = 39
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{ 6, 6, 5, 4, 7, 3, 2 }, // 101000 = 40
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{ 6, 6, 5, 4, 0, 3, 2 }, // 101001 = 41
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{ 6, 5, 4, 7, 3, 2, 1 }, // 101010 = 42
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{ 0, 0, 0, 0, 0, 0, 0 }, // 101011 = 43
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{ 0, 0, 0, 0, 0, 0, 0 }, // 101100 = 44
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{ 0, 0, 0, 0, 0, 0, 0 }, // 101101 = 45
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{ 0, 0, 0, 0, 0, 0, 0 }, // 101110 = 46
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{ 0, 0, 0, 0, 0, 0, 0 }, // 101111 = 47
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{ 0, 0, 0, 0, 0, 0, 0 }, // 110000 = 48
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{ 0, 0, 0, 0, 0, 0, 0 }, // 110001 = 49
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{ 0, 0, 0, 0, 0, 0, 0 }, // 110010 = 50
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{ 0, 0, 0, 0, 0, 0, 0 }, // 110011 = 51
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{ 0, 0, 0, 0, 0, 0, 0 }, // 110100 = 52
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{ 0, 0, 0, 0, 0, 0, 0 }, // 110101 = 53
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{ 0, 0, 0, 0, 0, 0, 0 }, // 110110 = 54
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{ 0, 0, 0, 0, 0, 0, 0 }, // 110111 = 55
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{ 0, 0, 0, 0, 0, 0, 0 }, // 111000 = 56
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{ 0, 0, 0, 0, 0, 0, 0 }, // 111001 = 57
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{ 0, 0, 0, 0, 0, 0, 0 }, // 111010 = 58
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{ 0, 0, 0, 0, 0, 0, 0 }, // 111011 = 59
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{ 0, 0, 0, 0, 0, 0, 0 }, // 111100 = 60
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{ 0, 0, 0, 0, 0, 0, 0 }, // 111101 = 61
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{ 0, 0, 0, 0, 0, 0, 0 }, // 111110 = 62
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{ 0, 0, 0, 0, 0, 0, 0 }, // 111111 = 63
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};
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/*
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============
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idBox::AddPoint
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============
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*/
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bool idBox::AddPoint( const idVec3 &v ) {
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idMat3 axis2;
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idBounds bounds1, bounds2;
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if ( extents[0] < 0.0f ) {
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extents.Zero();
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center = v;
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axis.Identity();
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return true;
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}
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bounds1[0][0] = bounds1[1][0] = center * axis[0];
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bounds1[0][1] = bounds1[1][1] = center * axis[1];
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bounds1[0][2] = bounds1[1][2] = center * axis[2];
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bounds1[0] -= extents;
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bounds1[1] += extents;
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if ( !bounds1.AddPoint( idVec3( v * axis[0], v * axis[1], v * axis[2] ) ) ) {
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// point is contained in the box
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return false;
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}
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axis2[0] = v - center;
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axis2[0].Normalize();
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axis2[1] = axis[ Min3Index( axis2[0] * axis[0], axis2[0] * axis[1], axis2[0] * axis[2] ) ];
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axis2[1] = axis2[1] - ( axis2[1] * axis2[0] ) * axis2[0];
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axis2[1].Normalize();
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axis2[2].Cross( axis2[0], axis2[1] );
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AxisProjection( axis2, bounds2 );
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bounds2.AddPoint( idVec3( v * axis2[0], v * axis2[1], v * axis2[2] ) );
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// create new box based on the smallest bounds
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if ( bounds1.GetVolume() < bounds2.GetVolume() ) {
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center = ( bounds1[0] + bounds1[1] ) * 0.5f;
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extents = bounds1[1] - center;
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center *= axis;
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}
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else {
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center = ( bounds2[0] + bounds2[1] ) * 0.5f;
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extents = bounds2[1] - center;
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center *= axis2;
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axis = axis2;
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}
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return true;
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}
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/*
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============
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idBox::AddBox
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============
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*/
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bool idBox::AddBox( const idBox &a ) {
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int i, besti;
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float v, bestv;
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idVec3 dir;
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idMat3 ax[4];
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idBounds bounds[4], b;
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if ( a.extents[0] < 0.0f ) {
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return false;
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}
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if ( extents[0] < 0.0f ) {
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center = a.center;
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extents = a.extents;
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axis = a.axis;
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return true;
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}
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// test axis of this box
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ax[0] = axis;
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bounds[0][0][0] = bounds[0][1][0] = center * ax[0][0];
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bounds[0][0][1] = bounds[0][1][1] = center * ax[0][1];
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bounds[0][0][2] = bounds[0][1][2] = center * ax[0][2];
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bounds[0][0] -= extents;
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bounds[0][1] += extents;
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a.AxisProjection( ax[0], b );
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if ( !bounds[0].AddBounds( b ) ) {
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// the other box is contained in this box
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return false;
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}
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// test axis of other box
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ax[1] = a.axis;
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bounds[1][0][0] = bounds[1][1][0] = a.center * ax[1][0];
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bounds[1][0][1] = bounds[1][1][1] = a.center * ax[1][1];
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bounds[1][0][2] = bounds[1][1][2] = a.center * ax[1][2];
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bounds[1][0] -= a.extents;
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bounds[1][1] += a.extents;
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AxisProjection( ax[1], b );
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if ( !bounds[1].AddBounds( b ) ) {
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// this box is contained in the other box
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center = a.center;
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extents = a.extents;
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axis = a.axis;
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return true;
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}
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// test axes aligned with the vector between the box centers and one of the box axis
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dir = a.center - center;
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dir.Normalize();
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for ( i = 2; i < 4; i++ ) {
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ax[i][0] = dir;
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ax[i][1] = ax[i-2][ Min3Index( dir * ax[i-2][0], dir * ax[i-2][1], dir * ax[i-2][2] ) ];
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ax[i][1] = ax[i][1] - ( ax[i][1] * dir ) * dir;
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ax[i][1].Normalize();
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ax[i][2].Cross( dir, ax[i][1] );
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AxisProjection( ax[i], bounds[i] );
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a.AxisProjection( ax[i], b );
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bounds[i].AddBounds( b );
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}
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// get the bounds with the smallest volume
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bestv = idMath::INFINITY;
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besti = 0;
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for ( i = 0; i < 4; i++ ) {
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v = bounds[i].GetVolume();
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if ( v < bestv ) {
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bestv = v;
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besti = i;
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}
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}
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// create a box from the smallest bounds axis pair
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center = ( bounds[besti][0] + bounds[besti][1] ) * 0.5f;
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extents = bounds[besti][1] - center;
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center *= ax[besti];
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axis = ax[besti];
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return false;
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}
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/*
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================
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idBox::PlaneDistance
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================
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*/
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float idBox::PlaneDistance( const idPlane &plane ) const {
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float d1, d2;
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d1 = plane.Distance( center );
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d2 = idMath::Fabs( extents[0] * ( plane.Normal() * axis[0] ) ) +
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idMath::Fabs( extents[1] * ( plane.Normal() * axis[1] ) ) +
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idMath::Fabs( extents[2] * ( plane.Normal() * axis[2] ) );
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if ( d1 - d2 > 0.0f ) {
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return d1 - d2;
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}
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if ( d1 + d2 < 0.0f ) {
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return d1 + d2;
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}
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return 0.0f;
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}
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/*
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================
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idBox::PlaneSide
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================
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*/
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int idBox::PlaneSide( const idPlane &plane, const float epsilon ) const {
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float d1, d2;
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d1 = plane.Distance( center );
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d2 = idMath::Fabs( extents[0] * ( plane.Normal() * axis[0] ) ) +
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idMath::Fabs( extents[1] * ( plane.Normal() * axis[1] ) ) +
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idMath::Fabs( extents[2] * ( plane.Normal() * axis[2] ) );
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if ( d1 - d2 > epsilon ) {
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return PLANESIDE_FRONT;
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}
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if ( d1 + d2 < -epsilon ) {
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return PLANESIDE_BACK;
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}
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return PLANESIDE_CROSS;
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}
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/*
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============
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idBox::IntersectsBox
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============
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*/
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bool idBox::IntersectsBox( const idBox &a ) const {
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idVec3 dir; // vector between centers
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float c[3][3]; // matrix c = axis.Transpose() * a.axis
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float ac[3][3]; // absolute values of c
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float axisdir[3]; // axis[i] * dir
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float d, e0, e1; // distance between centers and projected extents
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dir = a.center - center;
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// axis C0 + t * A0
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c[0][0] = axis[0] * a.axis[0];
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c[0][1] = axis[0] * a.axis[1];
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c[0][2] = axis[0] * a.axis[2];
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axisdir[0] = axis[0] * dir;
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ac[0][0] = idMath::Fabs( c[0][0] );
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ac[0][1] = idMath::Fabs( c[0][1] );
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ac[0][2] = idMath::Fabs( c[0][2] );
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d = idMath::Fabs( axisdir[0] );
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e0 = extents[0];
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e1 = a.extents[0] * ac[0][0] + a.extents[1] * ac[0][1] + a.extents[2] * ac[0][2];
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if ( d > e0 + e1 ) {
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return false;
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}
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// axis C0 + t * A1
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c[1][0] = axis[1] * a.axis[0];
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c[1][1] = axis[1] * a.axis[1];
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c[1][2] = axis[1] * a.axis[2];
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axisdir[1] = axis[1] * dir;
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ac[1][0] = idMath::Fabs( c[1][0] );
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ac[1][1] = idMath::Fabs( c[1][1] );
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ac[1][2] = idMath::Fabs( c[1][2] );
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d = idMath::Fabs( axisdir[1] );
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e0 = extents[1];
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e1 = a.extents[0] * ac[1][0] + a.extents[1] * ac[1][1] + a.extents[2] * ac[1][2];
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if ( d > e0 + e1 ) {
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return false;
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}
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// axis C0 + t * A2
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c[2][0] = axis[2] * a.axis[0];
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c[2][1] = axis[2] * a.axis[1];
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c[2][2] = axis[2] * a.axis[2];
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axisdir[2] = axis[2] * dir;
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ac[2][0] = idMath::Fabs( c[2][0] );
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ac[2][1] = idMath::Fabs( c[2][1] );
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ac[2][2] = idMath::Fabs( c[2][2] );
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d = idMath::Fabs( axisdir[2] );
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e0 = extents[2];
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e1 = a.extents[0] * ac[2][0] + a.extents[1] * ac[2][1] + a.extents[2] * ac[2][2];
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if ( d > e0 + e1 ) {
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return false;
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}
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// axis C0 + t * B0
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d = idMath::Fabs( a.axis[0] * dir );
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e0 = extents[0] * ac[0][0] + extents[1] * ac[1][0] + extents[2] * ac[2][0];
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e1 = a.extents[0];
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if ( d > e0 + e1 ) {
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return false;
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}
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// axis C0 + t * B1
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d = idMath::Fabs( a.axis[1] * dir );
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e0 = extents[0] * ac[0][1] + extents[1] * ac[1][1] + extents[2] * ac[2][1];
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e1 = a.extents[1];
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if ( d > e0 + e1 ) {
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return false;
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}
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// axis C0 + t * B2
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d = idMath::Fabs( a.axis[2] * dir );
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e0 = extents[0] * ac[0][2] + extents[1] * ac[1][2] + extents[2] * ac[2][2];
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e1 = a.extents[2];
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if ( d > e0 + e1 ) {
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return false;
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}
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// axis C0 + t * A0xB0
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d = idMath::Fabs( axisdir[2] * c[1][0] - axisdir[1] * c[2][0] );
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e0 = extents[1] * ac[2][0] + extents[2] * ac[1][0];
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e1 = a.extents[1] * ac[0][2] + a.extents[2] * ac[0][1];
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if ( d > e0 + e1 ) {
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return false;
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}
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// axis C0 + t * A0xB1
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d = idMath::Fabs( axisdir[2] * c[1][1] - axisdir[1] * c[2][1] );
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e0 = extents[1] * ac[2][1] + extents[2] * ac[1][1];
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e1 = a.extents[0] * ac[0][2] + a.extents[2] * ac[0][0];
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|
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 = FLOATSIGNBITNOTSET( f );
|
|
f = dir2 * axis[0];
|
|
planeBits |= FLOATSIGNBITSET( f ) << 1;
|
|
f = dir1 * axis[1];
|
|
planeBits |= FLOATSIGNBITNOTSET( f ) << 2;
|
|
f = dir2 * axis[1];
|
|
planeBits |= FLOATSIGNBITSET( f ) << 3;
|
|
f = dir1 * axis[2];
|
|
planeBits |= FLOATSIGNBITNOTSET( f ) << 4;
|
|
f = dir2 * axis[2];
|
|
planeBits |= FLOATSIGNBITSET( 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 ( FLOATNOTZERO( f ) ) {
|
|
planeBits = 1 << FLOATSIGNBITSET( f );
|
|
}
|
|
f = projectionDir * axis[1];
|
|
if ( FLOATNOTZERO( f ) ) {
|
|
planeBits |= 4 << FLOATSIGNBITSET( f );
|
|
}
|
|
f = projectionDir * axis[2];
|
|
if ( FLOATNOTZERO( f ) ) {
|
|
planeBits |= 16 << FLOATSIGNBITSET( f );
|
|
}
|
|
|
|
index = boxPlaneBitsSilVerts[planeBits];
|
|
for ( i = 0; i < index[0]; i++ ) {
|
|
silVerts[i] = points[index[i+1]];
|
|
}
|
|
|
|
return index[0];
|
|
}
|