137 lines
5.1 KiB
C++
137 lines
5.1 KiB
C++
#pragma once
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#include <J3ML/Geometry/Common.hpp>
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#include <J3ML/Geometry/AABB.hpp>
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#include <J3ML/Geometry/Polyhedron.hpp>
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namespace J3ML::Geometry {
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/// A 3D arbitrarily oriented bounding box
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// This data structure represents a box in 3D space. The local axes of this box can be arbitrarily oriented/rotated
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// with respect to the global world coordinate system. This allows OBBs to more tightly bound objects than AABBs do,
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// which always align with the world space axes. This flexibility has the drawback that the geometry tests and operations
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// involving OBBs are more costly, and representing an OBB in memory takes more space (15 floats vs 6 floats)
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class OBB : public Shape
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{
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public:
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// The center position of this OBB
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Vector3 pos;
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// Stores half-sizes to x, y, and z directions in the local space of this OBB.
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Vector3 r;
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// Specifies normalized direction vectors for the local axes
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Vector3 axis[3];
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/// Default constructor that does not initialize any member values.
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OBB() {}
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// Constructs an OBB by explicitly initializing all member values
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OBB(const Vector3& pos, const Vector3& radii, const Vector3& axis0, const Vector3& axis1, const Vector3& axis2);
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OBB(const AABB& aabb);
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inline static int NumFaces() { return 6; }
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inline static int NumEdges() { return 12; }
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inline static int NumVertices() { return 8; }
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float MinX() const;
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float MinY() const;
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float MinZ() const;
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float MaxX() const;
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float MaxY() const;
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float MaxZ() const;
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Vector3 MinPoint() const;
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Vector3 MaxPoint() const;
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Polyhedron ToPolyhedron() const;
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//PBVolume<6> ToPBVolume() const;
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AABB MinimalEnclosingAABB() const;
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bool Intersects(const LineSegment &lineSegment) const;
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Sphere MinimalEnclosingSphere() const;
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Sphere MaximalContainedSphere() const;
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Vector3 Size() const;
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Vector3 HalfSize() const;
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Vector3 Diagonal() const;
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Vector3 HalfDiagonal() const;
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void Transform(const Matrix3x3& transform);
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void Transform(const Matrix4x4& transform);
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void Transform(const Quaternion& transform);
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bool IsFinite() const;
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bool IsDegenerate() const;
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Vector3 CenterPoint() const;
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Vector3 Centroid() const;
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Vector3 AnyPointFast() const { return pos; }
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float Volume() const;
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float SurfaceArea() const;
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Geometry::LineSegment Edge(int edgeIndex) const;
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Vector3 CornerPoint(int cornerIndex) const;
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Vector3 PointInside(float x, float y, float z) const;
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Vector3 PointInside(const Vector3& pt) const;
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void ProjectToAxis(const Vector3 &direction, float &outMin, float &outMax) const;
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int UniqueFaceNormals(Vector3 *out) const;
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int UniqueEdgeDirections(Vector3 *out) const;
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Vector3 PointOnEdge(int edgeIndex, float u) const;
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Vector3 FaceCenterPoint(int faceIndex) const;
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void GetCornerPoints(Vector3 *outPointArray) const;
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void GetFacePlanes(Plane *outPlaneArray) const;
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Plane FacePlane(int faceIndex) const;
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void ExtremePointsAlongDirection(const Vector3 &dir, const Vector3 *pointArray, int numPoints, int &idxSmallest,
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int &idxLargest, float &smallestD, float &largestD);
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Vector3 FacePoint(int faceIndex, float u, float v) const;
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Vector3 ExtremePoint(const Vector3 &direction, float &projectionDistance) const;
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Vector3 ExtremePoint(const Vector3 &direction) const;
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void SetFrom(const AABB &aabb, const Matrix3x3 &transform);
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void SetFrom(const AABB &aabb, const Matrix4x4 &transform);
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void SetFrom(const AABB &aabb, const Quaternion &transform);
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bool Intersects(const Plane& plane) const;
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Matrix4x4 LocalToWorld() const;
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Matrix4x4 WorldToLocal() const;
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Vector3 ClosestPoint(const Vector3 &targetPoint) const;
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/// Expands this OBB to enclose the given object. The axis directions of this OBB remain intact.
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/** This function operates in-place. This function does not necessarily result in an OBB that is an
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optimal fit for the previous OBB and the given point. */
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void Enclose(const Vector3 & vector3);
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float Distance(const Vector3 &point) const;
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/// Tests if the given object is fully contained inside this OBB.
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/** This function returns true if the given object lies inside this OBB, and false otherwise.
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@note The comparison is performed using less-or-equal, so the faces of this OBB count as being inside,
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but due to float inaccuracies, this cannot generally be relied upon. */
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bool Contains(const Vector3& point) const;
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bool Contains(const LineSegment&) const;
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bool Contains(const AABB&) const;
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bool Contains(const OBB&) const;
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bool Contains(const Triangle&) const;
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bool Contains(const Polygon&) const;
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bool Contains(const Frustum&) const;
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bool Contains(const Polyhedron&) const;
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};
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} |