128 lines
3.9 KiB
C++
128 lines
3.9 KiB
C++
////////////////////////////////////////////////////////////////////
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// OBB.h
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//
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// Copyright 2007 cDc@seacave
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// Distributed under the Boost Software License, Version 1.0
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// (See http://www.boost.org/LICENSE_1_0.txt)
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#ifndef __SEACAVE_OBB_H__
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#define __SEACAVE_OBB_H__
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// I N C L U D E S /////////////////////////////////////////////////
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// D E F I N E S ///////////////////////////////////////////////////
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namespace SEACAVE {
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// S T R U C T S ///////////////////////////////////////////////////
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template <typename TYPE, int DIMS>
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class TAABB;
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template <typename TYPE, int DIMS>
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class TRay;
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// Basic oriented bounding-box class
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template <typename TYPE, int DIMS>
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class TOBB
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{
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STATIC_ASSERT(DIMS > 0 && DIMS <= 3);
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public:
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typedef TYPE Type;
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typedef Eigen::Matrix<TYPE,DIMS,1> POINT;
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typedef Eigen::Matrix<TYPE,DIMS,DIMS,Eigen::RowMajor> MATRIX;
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typedef SEACAVE::TAABB<TYPE,DIMS> AABB;
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typedef SEACAVE::TRay<TYPE,DIMS> RAY;
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typedef unsigned ITYPE;
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typedef Eigen::Matrix<ITYPE,DIMS,1> TRIANGLE;
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enum { numCorners = (DIMS==1 ? 2 : (DIMS==2 ? 4 : 8)) }; // 2^DIMS
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enum { numScalar = (5*DIMS) };
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MATRIX m_rot; // rotation matrix from world to local (orthonormal axes)
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POINT m_pos; // translation from local to world (center-point)
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POINT m_ext; // bounding box extents in local (half axis length)
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//---------------------------------------
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inline TOBB() {}
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inline TOBB(bool);
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inline TOBB(const AABB&);
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inline TOBB(const MATRIX& rot, const POINT& ptMin, const POINT& ptMax);
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inline TOBB(const POINT* pts, size_t n);
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inline TOBB(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s);
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template <typename CTYPE>
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inline TOBB(const TOBB<CTYPE, DIMS>&);
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inline void Set(const AABB&); // build from AABB
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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
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inline void Set(const POINT* pts, size_t n); // build from points
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inline void Set(const POINT* pts, size_t n, const TRIANGLE* tris, size_t s); // build from triangles
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inline void Set(const MATRIX& C, const POINT* pts, size_t n); // build from covariance matrix
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inline void SetRotation(const MATRIX& C); // build rotation only from covariance matrix
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inline void SetBounds(const POINT* pts, size_t n); // build size and center only from given points
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inline void BuildBegin(); // start online build for computing the rotation
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inline void BuildAdd(const POINT&); // add a new point to the online build
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inline void BuildEnd(); // end online build for computing the rotation
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inline bool IsValid() const;
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inline TOBB& Enlarge(TYPE);
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inline TOBB& EnlargePercent(TYPE);
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inline void Translate(const POINT&);
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inline void Transform(const MATRIX&);
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inline POINT GetCenter() const;
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inline void GetCenter(POINT&) const;
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inline POINT GetSize() const;
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inline void GetSize(POINT&) const;
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inline void GetCorners(POINT pts[numCorners]) const;
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inline AABB GetAABB() const;
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inline TYPE GetVolume() const;
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bool Intersects(const POINT&) const;
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inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return m_rot.data()[i]; }
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inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return m_rot.data()[i]; }
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friend std::ostream& operator << (std::ostream& st, const TOBB& obb) {
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st << obb.m_rot; st << std::endl;
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st << obb.m_pos; st << std::endl;
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st << obb.m_ext; st << std::endl;
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return st;
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}
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friend std::istream& operator >> (std::istream& st, TOBB& obb) {
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st >> obb.m_rot;
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st >> obb.m_pos;
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st >> obb.m_ext;
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return st;
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}
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#ifdef _USE_BOOST
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// implement BOOST serialization
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template<class Archive>
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void serialize(Archive& ar, const unsigned int /*version*/) {
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ar & m_rot;
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ar & m_pos;
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ar & m_ext;
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}
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#endif
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}; // class TOBB
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/*----------------------------------------------------------------*/
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#include "OBB.inl"
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/*----------------------------------------------------------------*/
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} // namespace SEACAVE
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#endif // __SEACAVE_OBB_H__
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