提交scripts

libs/Common/OBB.h

@@ -0,0 +1,127 @@
+////////////////////////////////////////////////////////////////////
+// OBB.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_OBB_H__
+#define __SEACAVE_OBB_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 ///////////////////////////////////////////////////
+
+template <typename TYPE, int DIMS>
+class TAABB;
+
+template <typename TYPE, int DIMS>
+class TRay;
+
+// Basic oriented bounding-box class
+template <typename TYPE, int DIMS>
+class TOBB
+{
+	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;
+	typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
+	typedef SEACAVE::TRay<TYPE,DIMS> RAY;
+	typedef unsigned ITYPE;
+	typedef Eigen::Matrix<ITYPE,DIMS,1> TRIANGLE;
+	enum { numCorners = (DIMS==1 ? 2 : (DIMS==2 ? 4 : 8)) }; // 2^DIMS
+	enum { numScalar = (5*DIMS) };
+
+	MATRIX m_rot;	// rotation matrix from world to local (orthonormal axes)
+	POINT m_pos;	// translation from local to world (center-point)
+	POINT m_ext;	// bounding box extents in local (half axis length)
+
+	//---------------------------------------
+
+	inline TOBB() {}
+	inline TOBB(bool);
+	inline TOBB(const AABB&);
+	inline TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax);
+	inline TOBB(const POINT* pts, size_t n);
+	inline TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s);
+	template <typename CTYPE>
+	inline TOBB(const TOBB<CTYPE, DIMS>&);
+
+	inline void Set(const AABB&); // build from AABB
+	inline void Set(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax); // build from rotation matrix from world to local, and local min/max corners
+	inline void Set(const POINT* pts, size_t n); // build from points
+	inline void Set(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s); // build from triangles
+	inline void Set(const MATRIX& C, const POINT* pts, size_t n); // build from covariance matrix
+	inline void SetRotation(const MATRIX& C); // build rotation only from covariance matrix
+	inline void SetBounds(const POINT* pts, size_t n); // build size and center only from given points
+
+	inline void BuildBegin(); // start online build for computing the rotation
+	inline void BuildAdd(const POINT&); // add a new point to the online build
+	inline void BuildEnd(); // end online build for computing the rotation
+
+	inline bool IsValid() const;
+
+	inline TOBB& Enlarge(TYPE);
+	inline TOBB& EnlargePercent(TYPE);
+
+	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 GetCorners(POINT pts[numCorners]) const;
+	inline AABB GetAABB() const;
+
+	inline TYPE GetVolume() const;
+
+	bool Intersects(const POINT&) const;
+
+	inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return m_rot.data()[i]; }
+	inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return m_rot.data()[i]; }
+
+	friend std::ostream& operator << (std::ostream& st, const TOBB& obb) {
+		st << obb.m_rot; st << std::endl;
+		st << obb.m_pos; st << std::endl;
+		st << obb.m_ext; st << std::endl;
+		return st;
+	}
+	friend std::istream& operator >> (std::istream& st, TOBB& obb) {
+		st >> obb.m_rot;
+		st >> obb.m_pos;
+		st >> obb.m_ext;
+		return st;
+	}
+
+	#ifdef _USE_BOOST
+	// implement BOOST serialization
+	template<class Archive>
+	void serialize(Archive& ar, const unsigned int /*version*/) {
+		ar & m_rot;
+		ar & m_pos;
+		ar & m_ext;
+	}
+	#endif
+}; // class TOBB
+/*----------------------------------------------------------------*/
+
+
+#include "OBB.inl"
+/*----------------------------------------------------------------*/
+
+} // namespace SEACAVE
+
+#endif // __SEACAVE_OBB_H__