133 lines
6.0 KiB
C++
133 lines
6.0 KiB
C++
#pragma once
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#include <vector>
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#include <J3ML/Geometry/Shape.hpp>
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#include <J3ML/Geometry/Forward.hpp>
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#include <J3ML/LinearAlgebra.hpp>
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namespace J3ML::Geometry
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{
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// Represents a three-dimensional closed geometric solid defined by flat polygonal faces.
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class Polyhedron : public Shape
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{
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public:
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// Stores a list of indices of a single face of a Polygon
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struct Face
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{
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// Specifies the indices of the corner vertices of the polyhedron.
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// Indices point to the polyhedron vertex array.
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// The face vertices should all lie on the same plane.
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// The positive direction of the plane (the direction the face outwards normal points)
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// is the one where the vertices are wound in counter-clockwise order.
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std::vector<int> v;
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// Reverses the winding order of this face. This has the effect of reversing the direction
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// the normal of this face points to.
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void FlipWindingOrder();
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};
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// Specifies the vertices of this polyhedron.
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std::vector<Vector3> v;
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std::vector<Face> f;
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public:
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/// The default constructor creates a null polyhedron.
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/** The null polyhedron has 0 vertices and 0 faces.
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@see IsNull(). */
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Polyhedron() = default;
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[[nodiscard]] int NumVertices() const {return (int)v.size();}
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[[nodiscard]] int NumFaces() const { return (int)f.size();}
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[[nodiscard]] AABB MinimalEnclosingAABB() const;
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[[nodiscard]] Vector3 Vertex(int vertexIndex) const;
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[[nodiscard]] bool Contains(const Vector3&) const;
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[[nodiscard]] bool Contains(const LineSegment&) const;
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[[nodiscard]] bool Contains(const Triangle&) const;
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[[nodiscard]] bool Contains(const Polygon&) const;
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[[nodiscard]] bool Contains(const AABB&) const;
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[[nodiscard]] bool Contains(const OBB&) const;
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[[nodiscard]] bool Contains(const Frustum&) const;
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[[nodiscard]] bool Contains(const Polyhedron&) const;
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[[nodiscard]] bool ContainsConvex(const Vector3&, float epsilon = 1e-4f) const;
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[[nodiscard]] bool ContainsConvex(const LineSegment&) const;
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[[nodiscard]] bool ContainsConvex(const Triangle&) const;
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/// Tests whether this polyhedron and the given object intersect.
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/** Both objects are treated as "solid", meaning that if one of the objects is fully contained inside
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another, this function still returns true. (e.g. in case a line segment is contained inside this polyhedron,
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or this polyhedron is contained inside a sphere, etc.)
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@return True if an intersection occurs or one of the objects is contained inside the other, false otherwise.
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@note This function assumes that this polyhedron is closed and the edges are not self-intersecting.
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@see Contains(), ContainsConvex(), ClosestPoint(), ClosestPointConvex(), Distance(), IntersectsConvex().
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@todo Add Intersects(Circle/Disc). */
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[[nodiscard]] bool Intersects(const Line&) const;
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[[nodiscard]] bool Intersects(const LineSegment&) const;
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[[nodiscard]] bool Intersects(const Ray&) const;
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[[nodiscard]] bool Intersects(const Plane&) const;
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[[nodiscard]] bool Intersects(const Polyhedron&) const;
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[[nodiscard]] bool Intersects(const AABB& aabb) const;
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[[nodiscard]] bool Intersects(const OBB&) const;
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[[nodiscard]] bool Intersects(const Triangle&) const;
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[[nodiscard]] bool Intersects(const Polygon&) const;
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[[nodiscard]] bool Intersects(const Frustum&) const;
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[[nodiscard]] bool Intersects(const Sphere&) const;
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[[nodiscard]] bool Intersects(const Capsule& capsule) const;
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[[nodiscard]] bool IsClosed() const;
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[[nodiscard]] Plane FacePlane(int faceIndex) const;
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[[nodiscard]] std::vector<Polygon> Faces() const;
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[[nodiscard]] int NumEdges() const;
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[[nodiscard]] LineSegment Edge(int edgeIndex) const;
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[[nodiscard]] std::vector<std::pair<int, int>> EdgeIndices() const;
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[[nodiscard]] std::vector<LineSegment> Edges() const;
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[[nodiscard]] Polygon FacePolygon(int faceIndex) const;
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[[nodiscard]] Vector3 FaceNormal(int faceIndex) const;
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[[nodiscard]] bool IsConvex() const;
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/// Returns true if the Euler formula (V + F - E == 2) holds for this Polyhedron.
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/** The running time is O(E) ~ O(V).
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@see NumVertices(), NumEdges(), NumFaces(). */
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[[nodiscard]] bool EulerFormulaHolds() const;
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[[nodiscard]] Vector3 ApproximateConvexCentroid() const;
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[[nodiscard]] int ExtremeVertex(const Vector3 &direction) const;
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[[nodiscard]] Vector3 ExtremePoint(const Vector3 &direction) const;
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/// Tests if the given face of this Polyhedron contains the given point.
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[[nodiscard]] bool FaceContains(int faceIndex, const Vector3 &worldSpacePoint, float polygonThickness = 1e-3f) const;
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/// A helper for Contains() and FaceContains() tests: Returns a positive value if the given point is contained in the given face,
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/// and a negative value if the given point is outside the face. The magnitude of the return value reports a pseudo-distance
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/// from the point to the nearest edge of the face polygon. This is used as a robustness/stability criterion to estimate how
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/// numerically believable the result is.
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[[nodiscard]] float FaceContainmentDistance2D(int faceIndex, const Vector3 &worldSpacePoint, float polygonThickness = 1e-5f) const;
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void ProjectToAxis(const Vector3 &direction, float &outMin, float &outMax) const;
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Vector3 ClosestPoint(const LineSegment& lineSegment, Vector3 *lineSegmentPt) const;
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[[nodiscard]] Vector3 ClosestPoint(const Vector3& point) const;
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/// Returns true if this polyhedron has 0 vertices and 0 faces.
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bool IsNull() const { return v.empty() && f.empty(); }
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protected:
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private:
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};
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} |