提交scripts

2025-07-21 10:09:12 +08:00
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+////////////////////////////////////////////////////////////////////
+// AABB.h
+//
+// Copyright 2007 cDc@seacave
+// Distributed under the Boost Software License, Version 1.0
+// (See http://www.boost.org/LICENSE_1_0.txt)
+
+#ifndef __SEACAVE_AABB_H__
+#define __SEACAVE_AABB_H__
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+namespace SEACAVE {
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+// Basic axis-aligned bounding-box class
+template <typename TYPE, int DIMS>
+class TAABB
+{
+	STATIC_ASSERT(DIMS > 0 && DIMS <= 3);
+
+public:
+	typedef TYPE Type;
+	typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
+	typedef Eigen::Matrix<TYPE,DIMS,DIMS,Eigen::RowMajor> MATRIX;
+	enum { numChildren = (2<<(DIMS-1)) };
+	enum { numCorners = (DIMS==1 ? 2 : (DIMS==2 ? 4 : 8)) }; // 2^DIMS
+	enum { numScalar = (2*DIMS) };
+
+	POINT ptMin, ptMax;	// box extreme points
+
+	//---------------------------------------
+
+	inline TAABB() {}
+	inline TAABB(bool);
+	inline TAABB(const POINT& _pt);
+	inline TAABB(const POINT& _ptMin, const POINT& _ptMax);
+	inline TAABB(const POINT& center, const TYPE& radius);
+	template <typename TPoint>
+	inline TAABB(const TPoint* pts, size_t n);
+	template <typename CTYPE>
+	inline TAABB(const TAABB<CTYPE, DIMS>&);
+
+	inline void Reset();
+	inline void Set(const POINT& _pt);
+	inline void Set(const POINT& _ptMin, const POINT& _ptMax);
+	inline void Set(const POINT& center, const TYPE& radius);
+	template <typename TPoint>
+	inline void Set(const TPoint* pts, size_t n);
+
+	inline bool IsEmpty() const;
+
+	inline TAABB& Enlarge(TYPE);
+	inline TAABB& EnlargePercent(TYPE);
+
+		   void InsertFull(const POINT&);
+		   void Insert(const POINT&);
+		   void Insert(const TAABB&);
+		   void BoundBy(const TAABB&);
+
+	inline void Translate(const POINT&);
+	inline void Transform(const MATRIX&);
+
+	inline POINT GetCenter() const;
+	inline void GetCenter(POINT&) const;
+
+	inline POINT GetSize() const;
+	inline void GetSize(POINT&) const;
+
+	inline void GetCorner(BYTE i, POINT&) const;
+	inline POINT GetCorner(BYTE i) const;
+	inline void GetCorners(POINT pts[numCorners]) const;
+
+	bool Intersects(const TAABB&) const;
+	bool IntersectsComplete(const TAABB&, TYPE) const;
+	bool IntersectsComplete(const TAABB&) const;
+	bool Intersects(const POINT&) const;
+	bool IntersectsComplete(const POINT&, TYPE) const;
+	bool IntersectsComplete(const POINT&) const;
+
+	unsigned SplitBy(TYPE, int, TAABB [2]) const;
+	unsigned SplitBy(const POINT&, TAABB [numChildren], unsigned&) const;
+
+	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return ptMin.data()[i]; }
+	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return ptMin.data()[i]; }
+
+	friend std::ostream& operator << (std::ostream& st, const TAABB& obb) {
+		st << obb.ptMin; st << std::endl;
+		st << obb.ptMax; st << std::endl;
+		return st;
+	}
+	friend std::istream& operator >> (std::istream& st, TAABB& obb) {
+		st >> obb.ptMin;
+		st >> obb.ptMax;
+		return st;
+	}
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & ptMin;
+		ar & ptMax;
+	}
+	#endif
+}; // class TAABB
+/*----------------------------------------------------------------*/
+
+
+#include "AABB.inl"
+/*----------------------------------------------------------------*/
+
+} // namespace SEACAVE
+
+#endif // __SEACAVE_AABB_H__