IceAABB.cpp
Go to the documentation of this file.
1 
8 
11 
17 
20 // Precompiled Header
21 #include "Stdafx.h"
22 
23 using namespace IceMaths;
24 
26 
31 AABB& AABB::Add(const AABB& aabb)
33 {
34  // Compute new min & max values
35  Point Min; GetMin(Min);
36  Point Tmp; aabb.GetMin(Tmp);
37  Min.Min(Tmp);
38 
39  Point Max; GetMax(Max);
40  aabb.GetMax(Tmp);
41  Max.Max(Tmp);
42 
43  // Update this
44  SetMinMax(Min, Max);
45  return *this;
46 }
47 
49 
54 float AABB::MakeCube(AABB& cube) const
56 {
57  Point Ext; GetExtents(Ext);
58  float Max = Ext.Max();
59 
60  Point Cnt; GetCenter(Cnt);
61  cube.SetCenterExtents(Cnt, Point(Max, Max, Max));
62  return Max;
63 }
64 
66 
70 void AABB::MakeSphere(Sphere& sphere) const
72 {
73  GetExtents(sphere.mCenter);
74  sphere.mRadius = sphere.mCenter.Magnitude() * 1.00001f; // To make sure sphere::Contains(*this) succeeds
75  GetCenter(sphere.mCenter);
76 }
77 
79 
84 bool AABB::IsInside(const AABB& box) const
86 {
87  if(box.GetMin(0)>GetMin(0)) return false;
88  if(box.GetMin(1)>GetMin(1)) return false;
89  if(box.GetMin(2)>GetMin(2)) return false;
90  if(box.GetMax(0)<GetMax(0)) return false;
91  if(box.GetMax(1)<GetMax(1)) return false;
92  if(box.GetMax(2)<GetMax(2)) return false;
93  return true;
94 }
95 
97 
102 bool AABB::ComputePlanes(Plane* planes) const
104 {
105  // Checkings
106  if(!planes) return false;
107 
108  Point Center, Extents;
109  GetCenter(Center);
110  GetExtents(Extents);
111 
112  // Writes normals
113  planes[0].n = Point(1.0f, 0.0f, 0.0f);
114  planes[1].n = Point(-1.0f, 0.0f, 0.0f);
115  planes[2].n = Point(0.0f, 1.0f, 0.0f);
116  planes[3].n = Point(0.0f, -1.0f, 0.0f);
117  planes[4].n = Point(0.0f, 0.0f, 1.0f);
118  planes[5].n = Point(0.0f, 0.0f, -1.0f);
119 
120  // Compute a point on each plane
121  Point p0 = Point(Center.x+Extents.x, Center.y, Center.z);
122  Point p1 = Point(Center.x-Extents.x, Center.y, Center.z);
123  Point p2 = Point(Center.x, Center.y+Extents.y, Center.z);
124  Point p3 = Point(Center.x, Center.y-Extents.y, Center.z);
125  Point p4 = Point(Center.x, Center.y, Center.z+Extents.z);
126  Point p5 = Point(Center.x, Center.y, Center.z-Extents.z);
127 
128  // Compute d
129  planes[0].d = -(planes[0].n|p0);
130  planes[1].d = -(planes[1].n|p1);
131  planes[2].d = -(planes[2].n|p2);
132  planes[3].d = -(planes[3].n|p3);
133  planes[4].d = -(planes[4].n|p4);
134  planes[5].d = -(planes[5].n|p5);
135 
136  return true;
137 }
138 
140 
145 bool AABB::ComputePoints(Point* pts) const
147 {
148  // Checkings
149  if(!pts) return false;
150 
151  // Get box corners
152  Point min; GetMin(min);
153  Point max; GetMax(max);
154 
155  // 7+------+6 0 = ---
156  // /| /| 1 = +--
157  // / | / | 2 = ++-
158  // / 4+---/--+5 3 = -+-
159  // 3+------+2 / y z 4 = --+
160  // | / | / | / 5 = +-+
161  // |/ |/ |/ 6 = +++
162  // 0+------+1 *---x 7 = -++
163 
164  // Generate 8 corners of the bbox
165  pts[0] = Point(min.x, min.y, min.z);
166  pts[1] = Point(max.x, min.y, min.z);
167  pts[2] = Point(max.x, max.y, min.z);
168  pts[3] = Point(min.x, max.y, min.z);
169  pts[4] = Point(min.x, min.y, max.z);
170  pts[5] = Point(max.x, min.y, max.z);
171  pts[6] = Point(max.x, max.y, max.z);
172  pts[7] = Point(min.x, max.y, max.z);
173 
174  return true;
175 }
176 
178 
183 const Point* AABB::GetVertexNormals() const
185 {
186  static float VertexNormals[] =
187  {
188  -INVSQRT3, -INVSQRT3, -INVSQRT3,
189  INVSQRT3, -INVSQRT3, -INVSQRT3,
190  INVSQRT3, INVSQRT3, -INVSQRT3,
191  -INVSQRT3, INVSQRT3, -INVSQRT3,
192  -INVSQRT3, -INVSQRT3, INVSQRT3,
193  INVSQRT3, -INVSQRT3, INVSQRT3,
194  INVSQRT3, INVSQRT3, INVSQRT3,
195  -INVSQRT3, INVSQRT3, INVSQRT3
196  };
197  return (const Point*)VertexNormals;
198 }
199 
201 
205 const udword* AABB::GetEdges() const
207 {
208  static udword Indices[] = {
209  0, 1, 1, 2, 2, 3, 3, 0,
210  7, 6, 6, 5, 5, 4, 4, 7,
211  1, 5, 6, 2,
212  3, 7, 4, 0
213  };
214  return Indices;
215 }
216 
218 
222 const Point* AABB::GetEdgeNormals() const
224 {
225  static float EdgeNormals[] =
226  {
227  0, -INVSQRT2, -INVSQRT2, // 0-1
228  INVSQRT2, 0, -INVSQRT2, // 1-2
229  0, INVSQRT2, -INVSQRT2, // 2-3
230  -INVSQRT2, 0, -INVSQRT2, // 3-0
231 
232  0, INVSQRT2, INVSQRT2, // 7-6
233  INVSQRT2, 0, INVSQRT2, // 6-5
234  0, -INVSQRT2, INVSQRT2, // 5-4
235  -INVSQRT2, 0, INVSQRT2, // 4-7
236 
237  INVSQRT2, -INVSQRT2, 0, // 1-5
238  INVSQRT2, INVSQRT2, 0, // 6-2
239  -INVSQRT2, INVSQRT2, 0, // 3-7
240  -INVSQRT2, -INVSQRT2, 0 // 4-0
241  };
242  return (const Point*)EdgeNormals;
243 }
244 
245 // ===========================================================================
246 // (C) 1996-98 Vienna University of Technology
247 // ===========================================================================
248 // NAME: bboxarea
249 // TYPE: c++ code
250 // PROJECT: Bounding Box Area
251 // CONTENT: Computes area of 2D projection of 3D oriented bounding box
252 // VERSION: 1.0
253 // ===========================================================================
254 // AUTHORS: ds Dieter Schmalstieg
255 // ep Erik Pojar
256 // ===========================================================================
257 // HISTORY:
258 //
259 // 19-sep-99 15:23:03 ds last modification
260 // 01-dec-98 15:23:03 ep created
261 // ===========================================================================
262 
263 //----------------------------------------------------------------------------
264 // SAMPLE CODE STARTS HERE
265 //----------------------------------------------------------------------------
266 
267 // NOTE: This sample program requires OPEN INVENTOR!
268 
269 //indexlist: this table stores the 64 possible cases of classification of
270 //the eyepoint with respect to the 6 defining planes of the bbox (2^6=64)
271 //only 26 (3^3-1, where 1 is "inside" cube) of these cases are valid.
272 //the first 6 numbers in each row are the indices of the bbox vertices that
273 //form the outline of which we want to compute the area (counterclockwise
274 //ordering), the 7th entry means the number of vertices in the outline.
275 //there are 6 cases with a single face and and a 4-vertex outline, and
276 //20 cases with 2 or 3 faces and a 6-vertex outline. a value of 0 indicates
277 //an invalid case.
278 
279 
280 // Original list was made of 7 items, I added an 8th element:
281 // - to padd on a cache line
282 // - to repeat the first entry to avoid modulos
283 //
284 // I also replaced original ints with sbytes.
285 
286 static const sbyte gIndexList[64][8] =
287 {
288  {-1,-1,-1,-1,-1,-1,-1, 0}, // 0 inside
289  { 0, 4, 7, 3, 0,-1,-1, 4}, // 1 left
290  { 1, 2, 6, 5, 1,-1,-1, 4}, // 2 right
291  {-1,-1,-1,-1,-1,-1,-1, 0}, // 3 -
292  { 0, 1, 5, 4, 0,-1,-1, 4}, // 4 bottom
293  { 0, 1, 5, 4, 7, 3, 0, 6}, // 5 bottom, left
294  { 0, 1, 2, 6, 5, 4, 0, 6}, // 6 bottom, right
295  {-1,-1,-1,-1,-1,-1,-1, 0}, // 7 -
296  { 2, 3, 7, 6, 2,-1,-1, 4}, // 8 top
297  { 0, 4, 7, 6, 2, 3, 0, 6}, // 9 top, left
298  { 1, 2, 3, 7, 6, 5, 1, 6}, //10 top, right
299  {-1,-1,-1,-1,-1,-1,-1, 0}, //11 -
300  {-1,-1,-1,-1,-1,-1,-1, 0}, //12 -
301  {-1,-1,-1,-1,-1,-1,-1, 0}, //13 -
302  {-1,-1,-1,-1,-1,-1,-1, 0}, //14 -
303  {-1,-1,-1,-1,-1,-1,-1, 0}, //15 -
304  { 0, 3, 2, 1, 0,-1,-1, 4}, //16 front
305  { 0, 4, 7, 3, 2, 1, 0, 6}, //17 front, left
306  { 0, 3, 2, 6, 5, 1, 0, 6}, //18 front, right
307  {-1,-1,-1,-1,-1,-1,-1, 0}, //19 -
308  { 0, 3, 2, 1, 5, 4, 0, 6}, //20 front, bottom
309  { 1, 5, 4, 7, 3, 2, 1, 6}, //21 front, bottom, left
310  { 0, 3, 2, 6, 5, 4, 0, 6}, //22 front, bottom, right
311  {-1,-1,-1,-1,-1,-1,-1, 0}, //23 -
312  { 0, 3, 7, 6, 2, 1, 0, 6}, //24 front, top
313  { 0, 4, 7, 6, 2, 1, 0, 6}, //25 front, top, left
314  { 0, 3, 7, 6, 5, 1, 0, 6}, //26 front, top, right
315  {-1,-1,-1,-1,-1,-1,-1, 0}, //27 -
316  {-1,-1,-1,-1,-1,-1,-1, 0}, //28 -
317  {-1,-1,-1,-1,-1,-1,-1, 0}, //29 -
318  {-1,-1,-1,-1,-1,-1,-1, 0}, //30 -
319  {-1,-1,-1,-1,-1,-1,-1, 0}, //31 -
320  { 4, 5, 6, 7, 4,-1,-1, 4}, //32 back
321  { 0, 4, 5, 6, 7, 3, 0, 6}, //33 back, left
322  { 1, 2, 6, 7, 4, 5, 1, 6}, //34 back, right
323  {-1,-1,-1,-1,-1,-1,-1, 0}, //35 -
324  { 0, 1, 5, 6, 7, 4, 0, 6}, //36 back, bottom
325  { 0, 1, 5, 6, 7, 3, 0, 6}, //37 back, bottom, left
326  { 0, 1, 2, 6, 7, 4, 0, 6}, //38 back, bottom, right
327  {-1,-1,-1,-1,-1,-1,-1, 0}, //39 -
328  { 2, 3, 7, 4, 5, 6, 2, 6}, //40 back, top
329  { 0, 4, 5, 6, 2, 3, 0, 6}, //41 back, top, left
330  { 1, 2, 3, 7, 4, 5, 1, 6}, //42 back, top, right
331  {-1,-1,-1,-1,-1,-1,-1, 0}, //43 invalid
332  {-1,-1,-1,-1,-1,-1,-1, 0}, //44 invalid
333  {-1,-1,-1,-1,-1,-1,-1, 0}, //45 invalid
334  {-1,-1,-1,-1,-1,-1,-1, 0}, //46 invalid
335  {-1,-1,-1,-1,-1,-1,-1, 0}, //47 invalid
336  {-1,-1,-1,-1,-1,-1,-1, 0}, //48 invalid
337  {-1,-1,-1,-1,-1,-1,-1, 0}, //49 invalid
338  {-1,-1,-1,-1,-1,-1,-1, 0}, //50 invalid
339  {-1,-1,-1,-1,-1,-1,-1, 0}, //51 invalid
340  {-1,-1,-1,-1,-1,-1,-1, 0}, //52 invalid
341  {-1,-1,-1,-1,-1,-1,-1, 0}, //53 invalid
342  {-1,-1,-1,-1,-1,-1,-1, 0}, //54 invalid
343  {-1,-1,-1,-1,-1,-1,-1, 0}, //55 invalid
344  {-1,-1,-1,-1,-1,-1,-1, 0}, //56 invalid
345  {-1,-1,-1,-1,-1,-1,-1, 0}, //57 invalid
346  {-1,-1,-1,-1,-1,-1,-1, 0}, //58 invalid
347  {-1,-1,-1,-1,-1,-1,-1, 0}, //59 invalid
348  {-1,-1,-1,-1,-1,-1,-1, 0}, //60 invalid
349  {-1,-1,-1,-1,-1,-1,-1, 0}, //61 invalid
350  {-1,-1,-1,-1,-1,-1,-1, 0}, //62 invalid
351  {-1,-1,-1,-1,-1,-1,-1, 0} //63 invalid
352 };
353 
354 const sbyte* AABB::ComputeOutline(const Point& local_eye, sdword& num) const
355 {
356  // Get box corners
357  Point min; GetMin(min);
358  Point max; GetMax(max);
359 
360  // Compute 6-bit code to classify eye with respect to the 6 defining planes of the bbox
361  int pos = ((local_eye.x < min.x) ? 1 : 0) // 1 = left
362  + ((local_eye.x > max.x) ? 2 : 0) // 2 = right
363  + ((local_eye.y < min.y) ? 4 : 0) // 4 = bottom
364  + ((local_eye.y > max.y) ? 8 : 0) // 8 = top
365  + ((local_eye.z < min.z) ? 16 : 0) // 16 = front
366  + ((local_eye.z > max.z) ? 32 : 0); // 32 = back
367 
368  // Look up number of vertices in outline
369  num = (sdword)gIndexList[pos][7];
370  // Zero indicates invalid case
371  if(!num) return null;
372 
373  return &gIndexList[pos][0];
374 }
375 
376 // calculateBoxArea: computes the screen-projected 2D area of an oriented 3D bounding box
377 
378 //const Point& eye, //eye point (in bbox object coordinates)
379 //const AABB& box, //3d bbox
380 //const Matrix4x4& mat, //free transformation for bbox
381 //float width, float height, int& num)
382 float AABB::ComputeBoxArea(const Point& eye, const Matrix4x4& mat, float width, float height, sdword& num) const
383 {
384  const sbyte* Outline = ComputeOutline(eye, num);
385  if(!Outline) return -1.0f;
386 
387  // Compute box vertices
388  Point vertexBox[8], dst[8];
389  ComputePoints(vertexBox);
390 
391  // Transform all outline corners into 2D screen space
392  for(sdword i=0;i<num;i++)
393  {
394  HPoint Projected;
395  vertexBox[Outline[i]].ProjectToScreen(width, height, mat, Projected);
396  dst[i] = Projected;
397  }
398 
399  float Sum = (dst[num-1][0] - dst[0][0]) * (dst[num-1][1] + dst[0][1]);
400 
401  for(int i=0; i<num-1; i++)
402  Sum += (dst[i][0] - dst[i+1][0]) * (dst[i][1] + dst[i+1][1]);
403 
404  return Sum * 0.5f; //return computed value corrected by 0.5
405 }
IceMaths::AABB::GetCenter
inline_ void GetCenter(Point &center) const
Get box center.
Definition: OPC_IceHook.h:354
sdword
signed int sdword
sizeof(sdword) must be 4
Definition: IceTypes.h:64
INVSQRT2
#define INVSQRT2
1 / sqrt(2)
Definition: IceTypes.h:52
null
#define null
our own NULL pointer
Definition: IceTypes.h:57
IceMaths::AABB::GetMin
inline_ void GetMin(Point &min) const
Get min point of the box.
Definition: OPC_IceHook.h:344
hrp::min
static int min(int a, int b)
Definition: MatrixSolvers.cpp:55
sbyte
signed char sbyte
sizeof(sbyte) must be 1
Definition: IceTypes.h:60
IceMaths::AABB::SetCenterExtents
void SetCenterExtents(const Point &c, const Point &e)
Definition: OPC_IceHook.h:295
IceMaths::Point::Magnitude
inline_ float Magnitude() const
Computes magnitude.
Definition: OPC_IceHook.h:220
i
png_uint_32 i
Definition: png.h:2735
width
png_infop png_uint_32 * width
Definition: png.h:2309
IceMaths::Sphere::mRadius
float mRadius
Sphere radius.
Definition: OPC_IceHook.h:140
IceMaths::Sphere::mCenter
Point mCenter
Sphere center.
Definition: OPC_IceHook.h:139
udword
unsigned int udword
sizeof(udword) must be 4
Definition: IceTypes.h:65
IceMaths::Plane::n
Point n
The normal to the plane.
Definition: OPC_IceHook.h:54
IceMaths::Point::ProjectToScreen
void ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4 &mat, HPoint &projected) const
Projects the point onto the screen.
Definition: IcePoint.cpp:115
IceMaths::Point::Min
inline_ float Min() const
Returns MIN(x, y, z);.
Definition: OPC_IceHook.h:200
height
png_infop png_uint_32 png_uint_32 * height
Definition: png.h:2309
IceMaths::Point::Max
inline_ float Max() const
Returns MAX(x, y, z);.
Definition: OPC_IceHook.h:202
INVSQRT3
#define INVSQRT3
1 / sqrt(3)
Definition: IceTypes.h:55
IceMaths::AABB::SetMinMax
void SetMinMax(const Point &min, const Point &max)
Definition: OPC_IceHook.h:286
IceMaths::AABB::GetExtents
inline_ void GetExtents(Point &extents) const
Get box extents.
Definition: OPC_IceHook.h:356
num
int num
Definition: png.h:1502
IceMaths::AABB::GetMax
inline_ void GetMax(Point &max) const
Get max point of the box.
Definition: OPC_IceHook.h:346
gIndexList
static const sbyte gIndexList[64][8]
Definition: IceAABB.cpp:286
hrp::max
static int max(int a, int b)
Definition: MatrixSolvers.cpp:54
IceMaths::Plane::d
float d
The distance from the origin.
Definition: OPC_IceHook.h:55
box
Definition: jquant2.c:258

openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:22