305 lines
9.8 KiB
C++
305 lines
9.8 KiB
C++
// Copyright (C) 2007 Id Software, Inc.
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//
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#ifndef __BV_BOX_H__
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#define __BV_BOX_H__
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/*
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===============================================================================
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Oriented Bounding Box
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===============================================================================
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*/
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class idBox {
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public:
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idBox( void );
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explicit idBox( const idVec3 ¢er, const idVec3 &extents, const idMat3 &axis );
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explicit idBox( const idVec3 &point );
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explicit idBox( const idBounds &bounds );
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explicit idBox( const idBounds &bounds, const idVec3 &origin, const idMat3 &axis );
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explicit idBox( const idBounds &bounds, const float modelMatrix[16] );
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idBox operator+( const idVec3 &t ) const; // returns translated box
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idBox & operator+=( const idVec3 &t ); // translate the box
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idBox operator*( const idMat3 &r ) const; // returns rotated box
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idBox & operator*=( const idMat3 &r ); // rotate the box
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idBox operator+( const idBox &a ) const;
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idBox & operator+=( const idBox &a );
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idBox operator-( const idBox &a ) const;
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idBox & operator-=( const idBox &a );
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bool Compare( const idBox &a ) const; // exact compare, no epsilon
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bool Compare( const idBox &a, const float epsilon ) const; // compare with epsilon
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bool operator==( const idBox &a ) const; // exact compare, no epsilon
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bool operator!=( const idBox &a ) const; // exact compare, no epsilon
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void Clear( void ); // inside out box
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void Zero( void ); // single point at origin
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const idVec3 & GetCenter( void ) const; // returns center of the box
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const idVec3 & GetExtents( void ) const; // returns extents of the box
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const idMat3 & GetAxis( void ) const; // returns the axis of the box
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float GetVolume( void ) const; // returns the volume of the box
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bool IsCleared( void ) const; // returns true if box are inside out
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bool AddPoint( const idVec3 &v ); // add the point, returns true if the box expanded
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bool AddBox( const idBox &a ); // add the box, returns true if the box expanded
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idBox Expand( const float d ) const; // return box expanded in all directions with the given value
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idBox & ExpandSelf( const float d ); // expand box in all directions with the given value
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idBox & ExpandSelf( const float dx, const float dy, const float dz ); // expand box in all directions with given values
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idBox Translate( const idVec3 &translation ) const; // return translated box
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idBox & TranslateSelf( const idVec3 &translation ); // translate this box
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idBox Rotate( const idMat3 &rotation ) const; // return rotated box
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idBox & RotateSelf( const idMat3 &rotation ); // rotate this box
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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 IntersectsBox( const idBox &a ) 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 box for a collection of points
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void FromPoints( const idVec3 *points, const int numPoints );
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// most tight box for a translation
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void FromPointTranslation( const idVec3 &point, const idVec3 &translation );
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void FromBoxTranslation( const idBox &box, const idVec3 &translation );
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// most tight box for a rotation
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void FromPointRotation( const idVec3 &point, const idRotation &rotation );
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void FromBoxRotation( const idBox &box, 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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// calculates the projection of this box onto the given axis
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void AxisProjection( const idVec3 &dir, float &min, float &max ) const;
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void AxisProjection( const idMat3 &ax, idBounds &bounds ) const;
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// calculates the silhouette of the box
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int GetProjectionSilhouetteVerts( const idVec3 &projectionOrigin, idVec3 silVerts[6] ) const;
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int GetParallelProjectionSilhouetteVerts( const idVec3 &projectionDir, idVec3 silVerts[6] ) const;
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private:
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idVec3 center;
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idVec3 extents;
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idMat3 axis;
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};
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extern idBox box_zero;
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ID_INLINE idBox::idBox( void ) {
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}
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ID_INLINE idBox::idBox( const idVec3 ¢er, const idVec3 &extents, const idMat3 &axis ) {
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this->center = center;
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this->extents = extents;
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this->axis = axis;
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}
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ID_INLINE idBox::idBox( const idVec3 &point ) {
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this->center = point;
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this->extents.Zero();
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this->axis.Identity();
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}
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ID_INLINE idBox::idBox( const idBounds &bounds ) {
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this->center = ( bounds[0] + bounds[1] ) * 0.5f;
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this->extents = bounds[1] - this->center;
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this->axis.Identity();
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}
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ID_INLINE idBox::idBox( const idBounds &bounds, const idVec3 &origin, const idMat3 &axis ) {
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this->center = ( bounds[0] + bounds[1] ) * 0.5f;
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this->extents = bounds[1] - this->center;
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this->center = origin + this->center * axis;
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this->axis = axis;
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}
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ID_INLINE idBox::idBox( const idBounds &bounds, const float modelMatrix[16] ) {
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this->center = ( bounds[0] + bounds[1] ) * 0.5f;
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this->extents = bounds[1] - this->center;
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idVec3 origin;
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axis[0][0] = modelMatrix[0];
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axis[0][1] = modelMatrix[1];
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axis[0][2] = modelMatrix[2];
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axis[1][0] = modelMatrix[4];
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axis[1][1] = modelMatrix[5];
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axis[1][2] = modelMatrix[6];
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axis[2][0] = modelMatrix[8];
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axis[2][1] = modelMatrix[9];
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axis[2][2] = modelMatrix[10];
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origin[0] = modelMatrix[12];
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origin[1] = modelMatrix[13];
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origin[2] = modelMatrix[14];
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this->center = origin + this->center * this->axis;
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}
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ID_INLINE idBox idBox::operator+( const idVec3 &t ) const {
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return idBox( center + t, extents, axis );
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}
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ID_INLINE idBox &idBox::operator+=( const idVec3 &t ) {
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center += t;
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return *this;
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}
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ID_INLINE idBox idBox::operator*( const idMat3 &r ) const {
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return idBox( center * r, extents, axis * r );
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}
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ID_INLINE idBox &idBox::operator*=( const idMat3 &r ) {
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center *= r;
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axis *= r;
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return *this;
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}
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ID_INLINE idBox idBox::operator+( const idBox &a ) const {
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idBox newBox;
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newBox = *this;
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newBox.AddBox( a );
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return newBox;
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}
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ID_INLINE idBox &idBox::operator+=( const idBox &a ) {
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idBox::AddBox( a );
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return *this;
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}
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ID_INLINE idBox idBox::operator-( const idBox &a ) const {
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return idBox( center, extents - a.extents, axis );
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}
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ID_INLINE idBox &idBox::operator-=( const idBox &a ) {
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extents -= a.extents;
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return *this;
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}
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ID_INLINE bool idBox::Compare( const idBox &a ) const {
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return ( center.Compare( a.center ) && extents.Compare( a.extents ) && axis.Compare( a.axis ) );
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}
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ID_INLINE bool idBox::Compare( const idBox &a, const float epsilon ) const {
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return ( center.Compare( a.center, epsilon ) && extents.Compare( a.extents, epsilon ) && axis.Compare( a.axis, epsilon ) );
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}
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ID_INLINE bool idBox::operator==( const idBox &a ) const {
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return Compare( a );
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}
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ID_INLINE bool idBox::operator!=( const idBox &a ) const {
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return !Compare( a );
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}
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ID_INLINE void idBox::Clear( void ) {
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center.Zero();
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extents[0] = extents[1] = extents[2] = -idMath::INFINITY;
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axis.Identity();
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}
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ID_INLINE void idBox::Zero( void ) {
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center.Zero();
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extents.Zero();
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axis.Identity();
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}
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ID_INLINE const idVec3 &idBox::GetCenter( void ) const {
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return center;
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}
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ID_INLINE const idVec3 &idBox::GetExtents( void ) const {
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return extents;
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}
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ID_INLINE const idMat3 &idBox::GetAxis( void ) const {
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return axis;
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}
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ID_INLINE float idBox::GetVolume( void ) const {
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return ( extents[0] * extents[1] * extents[2] * ( 2.0f * 2.0f * 2.0f ) );
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}
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ID_INLINE bool idBox::IsCleared( void ) const {
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return extents[0] < 0.0f;
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}
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ID_INLINE idBox idBox::Expand( const float d ) const {
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return idBox( center, extents + idVec3( d, d, d ), axis );
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}
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ID_INLINE idBox &idBox::ExpandSelf( const float d ) {
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extents[0] += d;
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extents[1] += d;
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extents[2] += d;
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return *this;
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}
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ID_INLINE idBox &idBox::ExpandSelf ( const float dx, const float dy, const float dz ) {
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extents[0] += dx;
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extents[1] += dy;
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extents[2] += dz;
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return *this;
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}
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ID_INLINE idBox idBox::Translate( const idVec3 &translation ) const {
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return idBox( center + translation, extents, axis );
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}
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ID_INLINE idBox &idBox::TranslateSelf( const idVec3 &translation ) {
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center += translation;
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return *this;
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}
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ID_INLINE idBox idBox::Rotate( const idMat3 &rotation ) const {
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return idBox( center * rotation, extents, axis * rotation );
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}
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ID_INLINE idBox &idBox::RotateSelf( const idMat3 &rotation ) {
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center *= rotation;
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axis *= rotation;
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return *this;
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}
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ID_INLINE bool idBox::ContainsPoint( const idVec3 &p ) const {
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idVec3 lp = p - center;
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if ( idMath::Fabs( lp * axis[0] ) > extents[0] ||
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idMath::Fabs( lp * axis[1] ) > extents[1] ||
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idMath::Fabs( lp * axis[2] ) > extents[2] ) {
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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 idSphere idBox::ToSphere( void ) const {
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return idSphere( center, extents.Length() );
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}
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ID_INLINE void idBox::AxisProjection( const idVec3 &dir, float &min, float &max ) const {
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float d1 = dir * center;
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float d2 = idMath::Fabs( extents[0] * ( dir * axis[0] ) ) +
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idMath::Fabs( extents[1] * ( dir * axis[1] ) ) +
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idMath::Fabs( extents[2] * ( dir * axis[2] ) );
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min = d1 - d2;
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max = d1 + d2;
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}
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ID_INLINE void idBox::AxisProjection( const idMat3 &ax, idBounds &bounds ) const {
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for ( int i = 0; i < 3; i++ ) {
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float d1 = ax[i] * center;
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float d2 = idMath::Fabs( extents[0] * ( ax[i] * axis[0] ) ) +
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idMath::Fabs( extents[1] * ( ax[i] * axis[1] ) ) +
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idMath::Fabs( extents[2] * ( ax[i] * axis[2] ) );
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bounds[0][i] = d1 - d2;
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bounds[1][i] = d1 + d2;
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}
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}
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#endif /* !__BV_BOX_H__ */
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