f1402849
 dmayerich
renewed commit
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#ifndef RTS_BOUNDING_VOLUMES
#define RTS_BOUNDING_VOLUMES
#include "rtsLinearAlgebra.h"
#include <math.h>
template <class T>
class rtsAABB
{
public:
point3D<T> minimum;
point3D<T> maximum;
//overloaded operators
rtsAABB<T> operator+(rtsAABB<T> param);
rtsAABB<unsigned int> getGridAlignedAABB();
inline bool isIn(T x, T y, T z);
};
template <class T>
class rtsBoundingSphere
{
public:
point3D<T> center;
T radius;
inline bool isIn(T x, T y, T z);
};
template <class T>
class rtsTGC
{
public:
point3D<T> posA;
point3D<T> posB;
vector3D<T> normA;
vector3D<T> normB;
T radA;
T radB;
rtsAABB<T> BoundAABB();
};
template <class T>
rtsAABB<T> rtsAABB<T>::operator+(rtsAABB<T> param)
{
/* This function creates an AABB by finding the minimum bound
of two other AABBs.
*/
rtsAABB<T> result;
result.minimum.x = min(minimum.x, param.minimum.x);
result.minimum.y = min(minimum.y, param.minimum.y);
result.minimum.z = min(minimum.z, param.minimum.z);
result.maximum.x = max(maximum.x, param.maximum.x);
result.maximum.y = max(maximum.y, param.maximum.y);
result.maximum.z = max(maximum.z, param.maximum.z);
return result;
}
template <class T>
inline bool rtsAABB<T>::isIn(T x, T y, T z)
{
if(x >= minimum.x && x <= maximum.x &&
y >= minimum.y && y <= maximum.y &&
z >= minimum.z && z <= maximum.z)
return true;
else
return false;
}
template <class T>
inline bool rtsBoundingSphere<T>::isIn(T x, T y, T z)
{
vector3D<T> to_point = center - point3D<T>(x, y, z);
T length_squared = to_point*to_point;
if(length_squared < radius*radius)
return true;
else
return false;
}
template <class T>
rtsAABB<unsigned int> rtsAABB<T>::getGridAlignedAABB()
{
/* This function returns a version of the current AABB that is snapped
to a grid (ie the floor of the position and the ceiling of the size).
*/
rtsAABB<unsigned int> result;
result.minimum.x = floor(minimum.x);
result.minimum.y = floor(minimum.y);
result.minimum.z = floor(minimum.z);
result.maximum.x = ceil(maximum.x);
result.maximum.y = ceil(maximum.y);
result.maximum.z = ceil(maximum.z);
return result;
}
template <class T>
rtsAABB<T> rtsTGC<T>::BoundAABB()
{
/* This function returns an axis-aligned bounding box
that is the minimum bound for the given truncated-generalized cone.
*/
//create a vector representing each axis
vector3D<double> x(1.0, 0.0, 0.0);
vector3D<double> y(0.0, 1.0, 0.0);
vector3D<double> z(0.0, 0.0, 1.0);
//store the extents
point3D<T> a_extents(radA*(1.0 - fabs(normA*x)),
radA*(1.0 - fabs(normA*y)),
radA*(1.0 - fabs(normA*z)));
point3D<T> b_extents(radB*(1.0 - fabs(normB*x)),
radB*(1.0 - fabs(normB*y)),
radB*(1.0 - fabs(normB*z)));
//create the AABB
rtsAABB<T> result;
//calculate the bounding box information
//calculate bounding box position as the minima of all extents and positions
result.minimum.x = min(posA.x - a_extents.x, posB.x - b_extents.x);
result.minimum.y = min(posA.y - a_extents.y, posB.y - b_extents.y);
result.minimum.z = min(posA.z - a_extents.z, posB.z - b_extents.z);
//now find the size of the block
result.maximum.x = max(posA.x + a_extents.x, posB.x + b_extents.x);
result.maximum.y = max(posA.y + a_extents.y, posB.y + b_extents.y);
result.maximum.z = max(posA.z + a_extents.z, posB.z + b_extents.z);
return result;
}
#endif
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