Source

Coin / src / base / SbBox3d.cpp

Full commit
  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
/**************************************************************************\
 * Copyright (c) Kongsberg Oil & Gas Technologies AS
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
 * 
 * Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 * 
 * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 * 
 * Neither the name of the copyright holder nor the names of its
 * contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\**************************************************************************/

/*!
  \class SbBox3d Inventor/SbBox3d.h
  \brief The SbBox3d class is an abstraction for an axis aligned 3 dimensional box.
  \ingroup base

  This box abstraction class is used by other entities in the Coin
  library for data exchange and storage. It provides a representation
  of the defining corners of a box in 3D space, with the sides aligned
  with the 3 principal axes.

  \sa SbBox2s, SbBox2f, SbBox2d, SbBox3s, SbBox3f, SbXfBox3f.
*/

// *************************************************************************

#include <Inventor/SbBox3d.h>

#include <limits>

#include <Inventor/SbBox3f.h>
#include <Inventor/SbBox3s.h>
#include <Inventor/SbBox3i32.h>
#include <Inventor/SbDPMatrix.h>
#include <Inventor/errors/SoDebugError.h>

// *************************************************************************

/*!
  \fn SbBox3d::SbBox3d(void)

  The default constructor makes an empty box.
*/

/*!
  \fn SbBox3d::SbBox3d(double minx, double miny, double minz, double maxx, double maxy, double maxz)
  Constructs a box with the given corners.

  \a minx should be less than \a maxx, \a miny should be less than
  \a maxy and \a minz should be less than \a maxz if you want to make
  a valid box.
*/

/*!
  \fn SbBox3d::SbBox3d(const SbVec3d & minval, const SbVec3d & maxval)

  Constructs a box with the given corners.

  The coordinates of \a min should be less than the coordinates of \a
  max if you want to make a valid box.
*/

/*!
  \fn SbBox3d & SbBox3d::setBounds(double xmin, double ymin, double zmin, double xmax, double ymax, double zmax)

  Reset the boundaries of the box.

  \a minx should be less than \a maxx, \a miny should be less than
  \a maxy and \a minz should be less than \a maxz if you want to make
  a valid box.

  Returns reference to self.

  \sa getBounds().
*/

/*!
  \fn SbBox3d & SbBox3d::setBounds(const SbVec3d & minval, const SbVec3d & maxval)

  Reset the boundaries of the box with the given corners.

  The coordinates of \a min should be less than the coordinates of
  \a max if you want to make a valid box.

  Returns reference to self.

  \sa getBounds().
*/

/*!
  Reset the boundaries to the boundaries of the given \a box.

  Returns reference to self.

  \sa setBounds()
*/

SbBox3d &
SbBox3d::setBounds(const SbBox3f & box)
{
  if (box.isEmpty()) {
    makeEmpty();
  } else {
    minpt.setValue(box.getMin());
    maxpt.setValue(box.getMax());
  }
  return *this;
}

/*!
  Reset the boundaries to the boundaries of the given \a box.

  Returns reference to self.

  \sa setBounds()
*/

SbBox3d &
SbBox3d::setBounds(const SbBox3s & box)
{
  if (box.isEmpty()) {
    makeEmpty();
  } else {
    minpt.setValue(box.getMin());
    maxpt.setValue(box.getMax());
  }
  return *this;
}

/*!
  Reset the boundaries to the boundaries of the given \a box.

  Returns reference to self.

  \sa setBounds()
*/

SbBox3d &
SbBox3d::setBounds(const SbBox3i32 & box)
{
  if (box.isEmpty()) {
    makeEmpty();
  } else {
    minpt.setValue(box.getMin());
    maxpt.setValue(box.getMax());
  }
  return *this;
}

/*!
  \fn const SbVec3d & SbBox3d::getMin(void) const

  Returns the minimum point. This should usually be the lower left
  corner point of the box.

  \sa getOrigin(), getMax().
*/

/*!
  \fn const SbVec3d & SbBox3d::getMax(void) const

  Returns the maximum point. This should usually be the upper right
  corner point of the box.

  \sa getMin().
*/

/*!
  \fn SbVec3d & SbBox3d::getMin(void)

  Returns a modifiable reference the minimum point.
*/

/*!
  \fn SbVec3d & SbBox3d::getMax(void)

  Returns a modifiable reference the maximum point.
*/

/*!
  \fn SbVec3d SbBox3d::getCenter(void) const
  Returns the center point of the box.
*/

/*!
  Extend the boundaries of the box by the given point, i.e. make the
  point fit inside the box if it isn't already so.
*/
void
SbBox3d::extendBy(const SbVec3d & point)
{
  if (this->isEmpty()) {
    this->setBounds(point, point);
  }
  else {
    // The explicit casts are done to humour the HPUX aCC compiler,
    // which will otherwise say ``Template deduction failed to find a
    // match for the call to 'SbMin'''. mortene.
  this->minpt.setValue(SbMin(static_cast<double>(point[0]), static_cast<double>(this->minpt[0])),
                       SbMin(static_cast<double>(point[1]), static_cast<double>(this->minpt[1])),
                       SbMin(static_cast<double>(point[2]), static_cast<double>(this->minpt[2])));
  this->maxpt.setValue(SbMax(static_cast<double>(point[0]), static_cast<double>(this->maxpt[0])),
                       SbMax(static_cast<double>(point[1]), static_cast<double>(this->maxpt[1])),
                       SbMax(static_cast<double>(point[2]), static_cast<double>(this->maxpt[2])));
  }
}

/*!
  Extend the boundaries of the box by the given \a box parameter. This
  is equal to calling extendBy() twice with the corner points.
 */
void
SbBox3d::extendBy(const SbBox3d & box)
{
  if (box.isEmpty()) { return; }

  if (this->isEmpty()) {
    *this = box;
  }
  else {
    this->extendBy(box.minpt);
    this->extendBy(box.maxpt);
  }
}

/*!
  Check if the given point lies within the boundaries of this box.
 */
SbBool
SbBox3d::intersect(const SbVec3d & point) const
{
  return !(point[0] < this->minpt[0] ||
           point[0] > this->maxpt[0] ||
           point[1] < this->minpt[1] ||
           point[1] > this->maxpt[1] ||
           point[2] < this->minpt[2] ||
           point[2] > this->maxpt[2]);
}

/*!
  Check if the given \a box lies wholly or partly within the boundaries
  of this box.
 */
SbBool
SbBox3d::intersect(const SbBox3d & box) const
{
  if ((box.maxpt[0] < this->minpt[0]) ||
     (box.maxpt[1] < this->minpt[1]) ||
     (box.maxpt[2] < this->minpt[2]) ||
     (box.minpt[0] > this->maxpt[0]) ||
     (box.minpt[1] > this->maxpt[1]) ||
     (box.minpt[2] > this->maxpt[2])) return FALSE;
  return TRUE;
}

/*!
  \fn void SbBox3d::getBounds(double & minx, double & miny, double & minz, double & maxx, double & maxy, double & maxz) const

  Returns the box boundaries.

  \sa setBounds().
*/

/*!
  \fn void SbBox3d::getBounds(SbVec3d & minobj, SbVec3d & maxobj) const

  Returns the box corner points.

  \sa setBounds().
*/

/*!
  \fn void SbBox3d::getOrigin(double & originX, double & originY, double & originZ) const

  Returns the coordinates of the box origin (i.e. the lower left corner).

  \sa getMin().
*/

/*!
  \fn void SbBox3d::getSize(double & sizeX, double & sizeY, double & sizeZ) const

  Returns width, height and depth of box.
*/

/*!
  \fn SbVec3d SbBox3d::getSize(void) const

  Returns width, height and depth of box as a 3D vector.

  \since Coin 3.0
*/

/*!
  Marks this as an empty box.

  \sa isEmpty().
*/
void
SbBox3d::makeEmpty(void)
{
  this->minpt.setValue(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
  this->maxpt.setValue(-std::numeric_limits<double>::max(), -std::numeric_limits<double>::max(), -std::numeric_limits<double>::max());
}

/*!
  \fn SbBool SbBox3d::isEmpty(void) const
  Check if this has been marked as an empty box.

  \sa makeEmpty().
*/

/*!
  \fn SbBool SbBox3d::hasVolume(void) const

  Check if the box has been correctly specified and by that virtue
  has volume.
*/

/*!
  \fn double SbBox3d::getVolume(void) const

  Check if the box has "positive" volume, i.e. the lower left corner is
  actually lower and more left than the maximum point.
*/

/*!
  Find the span of the box in the given direction (i.e. how much room in
  the given direction the box needs). The distance is returned as the minimum
  and maximum distance from origo to the closest and furthest plane defined
  by the direction vector and each of the box' corners. The difference
  between these values gives the span.
*/
void
SbBox3d::getSpan(const SbVec3d & dir, double & dmin, double & dmax) const
{
  double dist, mindist = std::numeric_limits<double>::max(), maxdist = -std::numeric_limits<double>::max();
  SbVec3d points[2]={this->minpt, this->maxpt};
  SbVec3d corner;
  SbVec3d normdir(dir);
  if (normdir.normalize() == 0.0) {
#if COIN_DEBUG
    SoDebugError::postWarning("SbBox3d::getSpan",
                              "The direction is a null vector.");
#endif // COIN_DEBUG

    dmin = dmax = 0.0;
    return;
  }

  for (int i=0;i<8;i++) {
    //Find all corners the "binary" way :-)
    corner.setValue(points[(i&4)>>2][0], points[(i&2)>>1][1], points[i&1][2]);

    // a = dir
    // b = corner-[0, 0, 0]
    // v = dir/|dir|
    //
    // The dot product formula (1) gives the formula we use (2).
    //
    // (1)  a * b = |a|*|b| * cos(angle(a, b))
    //
    // (2)  distance = v * b
    //
    // This dot product (2) gives the distance from origo to the plane
    // defined by normdir and corner.
    dist=normdir.dot(corner);
    if (dist < mindist) mindist = dist;
    if (dist > maxdist) maxdist = dist;
  }

  dmin = mindist;
  dmax = maxdist;
}

/*!
  Transform the box by the matrix, and change its boundaries to contain
  the transformed box.

  Doesn't touch illegal/empty boxes.
 */
void
SbBox3d::transform(const SbDPMatrix & matrix)
{
#if COIN_DEBUG
  if (this->isEmpty()) {
    SoDebugError::postWarning("SbBox3d::transform",
                              "The box is not valid!");
    return;
  }
#endif // COIN_DEBUG

  SbVec3d dst;
  SbVec3d points[2]={this->minpt, this->maxpt};
  SbVec3d corner;
  SbBox3d newbox;

  //transform all the corners and include them into the new box.
  for (int i=0;i<8;i++) {
    //Find all corners the "binary" way :-)
    corner.setValue(points[(i&4)>>2][0], points[(i&2)>>1][1], points[i&1][2]);
    matrix.multVecMatrix(corner, dst);
    newbox.extendBy(dst);
  }
  this->setBounds(newbox.minpt, newbox.maxpt);
}

/*!
  Dump the state of this object to the \a file stream. Only works in
  debug version of library, method does nothing in an optimized compile.
 */
void
SbBox3d::print(FILE * fp) const
{
#if COIN_DEBUG
  SbVec3d minv, maxv;
  this->getBounds(minv, maxv);
  minv.print(fp);
  fprintf(fp, " ");
  maxv.print(fp);
#endif // COIN_DEBUG
}

/*!
  \fn int operator == (const SbBox3d & b1, const SbBox3d & b2)
  \relates SbBox3d

  Check \a b1 and \a b2 for equality.
*/

/*!
  \fn int operator != (const SbBox3d & b1, const SbBox3d & b2)
  \relates SbBox3d

  Check \a b1 and \a b2 for inequality.
*/

/*!
  Check if the box is outside the view volume defined by the \a mvp
  matrix. Sets \a cullbits according to which planes we're inside or
  outside. Bit 0 (0x1) is cleared when box is completely inside left
  and right clipping planes. Bit 1 (0x2) is cleared when box is inside
  top and bottom clipping planes. Bit 2 (0x4) is cleared when box is
  inside near and far clipping planes.

  Returns \c TRUE if box is completely outside one of the clipping
  planes. \c FALSE otherwise.
*/
SbBool
SbBox3d::outside(const SbDPMatrix & mvp, int & cullbits) const
{
  // FIXME: this function is untested (code written by
  // pederb). 20000615 mortene.

  int i;
  SbVec3d tmp;
  SbVec3d clip[8];
  for (i = 0; i < 8; i++) {
    tmp[0] = i & 4 ? this->minpt[0] : this->maxpt[0];
    tmp[1] = i & 2 ? this->minpt[1] : this->maxpt[1];
    tmp[2] = i & 1 ? this->minpt[2] : this->maxpt[2];
    mvp.multVecMatrix(tmp, clip[i]);
  }
  for (int j = 0; j < 3; j++) {
    if (cullbits & (1<<j)) {
      int inside = 0;
      int outsideneg = 0;
      int outsidepos = 0;
      for (i = 0; i < 8; i++) {
        double val = clip[i][j];
        if (val < -1.0) outsideneg++;
        else if (val > 1.0) outsidepos++;
        else inside++;
      }
      if (outsidepos == 8) return TRUE;
      if (outsideneg == 8) return TRUE;
      if (inside == 8) cullbits ^= (1<<j);
    }
  }
  return FALSE;
}

/*!
  Return the point on the box closest to the given \a point.
 */
SbVec3d
SbBox3d::getClosestPoint(const SbVec3d & point) const
{
  SbVec3d closest = point;

  SbVec3d center = this->getCenter();
  double devx = closest[0] - center[0];
  double devy = closest[1] - center[1];
  double devz = closest[2] - center[2];
  double halfwidth = (this->maxpt[0] - this->minpt[0]) / 2.0;
  double halfheight = (this->maxpt[1] - this->minpt[1]) / 2.0;
  double halfdepth = (this->maxpt[2] - this->minpt[2]) / 2.0;

  // Move point to be on the nearest plane of the box.
  if ((fabs(devx) > fabs(devy)) && (fabs(devx) > fabs(devz)))
    closest[0] = center[0] + halfwidth * ((devx < 0.0) ? -1.0 : 1.0);
  else if (fabs(devy) > fabs(devz))
    closest[1] = center[1] + halfheight * ((devy < 0.0) ? -1.0 : 1.0);
  else
    closest[2] = center[2] + halfdepth * ((devz < 0.0) ? -1.0 : 1.0);

  // Clamp to be inside box.
  closest[0] = SbMin(SbMax(closest[0], this->minpt[0]), this->maxpt[0]);
  closest[1] = SbMin(SbMax(closest[1], this->minpt[1]), this->maxpt[1]);
  closest[2] = SbMin(SbMax(closest[2], this->minpt[2]), this->maxpt[2]);

  return closest;
}