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/*
* SOLID - Software Library for Interference Detection
*
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
*
* This library may be distributed under the terms of the Q Public License
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
* LICENSE.QPL included in the packaging of this file.
*
* This library may be distributed and/or modified under the terms of the
* GNU General Public License (GPL) version 2 as published by the Free Software
* Foundation and appearing in the file LICENSE.GPL included in the
* packaging of this file.
*
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Commercial use or any other use of this library not covered by either
* the QPL or the GPL requires an additional license from Dtecta.
* Please contact info@dtecta.com for enquiries about the terms of commercial
* use of this library.
*/
#ifndef DT_CBOX_H
#define DT_CBOX_H
#include "MT_BBox.h"
struct DT_CBox {
DT_CBox() {}
DT_CBox(const MT_Point3& center, const MT_Vector3& extent)
: m_center(center),
m_extent(extent)
{}
explicit DT_CBox(const MT_BBox& bbox) { set(bbox); }
const MT_Point3& getCenter() const { return m_center; }
const MT_Vector3& getExtent() const { return m_extent; }
void set(const MT_BBox& bbox)
{
m_center = bbox.getCenter();
m_extent = bbox.getExtent();
}
MT_BBox get() const
{
return MT_BBox(m_center - m_extent, m_center + m_extent);
}
MT_Scalar size() const
{
return GEN_max(GEN_max(m_extent[0], m_extent[1]), m_extent[2]);
}
DT_CBox& operator+=(const DT_CBox& box)
{
m_center += box.getCenter();
m_extent += box.getExtent();
return *this;
}
int longestAxis() const { return m_extent.closestAxis(); }
DT_CBox hull(const DT_CBox& b) const
{
return DT_CBox(this->get().hull(b.get()));
}
bool overlaps(const DT_CBox& b) const
{
return MT_abs(m_center[0] - b.m_center[0]) <= m_extent[0] + b.m_extent[0] &&
MT_abs(m_center[1] - b.m_center[1]) <= m_extent[1] + b.m_extent[1] &&
MT_abs(m_center[2] - b.m_center[2]) <= m_extent[2] + b.m_extent[2];
}
bool overlapsLineSegment(const MT_Point3& p, const MT_Point3& q) const
{
MT_Vector3 r = q - p;
MT_Vector3 r_abs = r.absolute();
if (!overlaps(DT_CBox(p + r * MT_Scalar(0.5), r_abs * MT_Scalar(0.5))))
{
return false;
}
MT_Vector3 s = p - m_center;
if (MT_abs(r[2] * s[1] - r[1] * s[2]) > r_abs[2] * m_extent[1] + r_abs[1] * m_extent[2])
{
return false;
}
if (MT_abs(r[0] * s[2] - r[2] * s[0]) > r_abs[0] * m_extent[2] + r_abs[2] * m_extent[0])
{
return false;
}
if (MT_abs(r[1] * s[0] - r[0] * s[1]) > r_abs[1] * m_extent[0] + r_abs[0] * m_extent[1])
{
return false;
}
return true;
}
MT_Point3 support(const MT_Vector3& v) const
{
return m_center + MT_Vector3(v[0] < MT_Scalar(0.0) ? -m_extent[0] : m_extent[0],
v[1] < MT_Scalar(0.0) ? -m_extent[1] : m_extent[1],
v[2] < MT_Scalar(0.0) ? -m_extent[2] : m_extent[2]);
}
private:
MT_Point3 m_center;
MT_Vector3 m_extent;
};
inline DT_CBox operator+(const DT_CBox& b1, const DT_CBox& b2)
{
return DT_CBox(b1.getCenter() + b2.getCenter(),
b1.getExtent() + b2.getExtent());
}
inline DT_CBox operator-(const DT_CBox& b1, const DT_CBox& b2)
{
return DT_CBox(b1.getCenter() - b2.getCenter(),
b1.getExtent() + b2.getExtent());
}
#endif
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