1 /****************************************************************************
2 * VCGLib o o *
3 * Visual and Computer Graphics Library o o *
4 * _ O _ *
5 * Copyright(C) 2004-2016 \/)\/ *
6 * Visual Computing Lab /\/| *
7 * ISTI - Italian National Research Council | *
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9 * All rights reserved. *
10 * *
11 * This program is free software; you can redistribute it and/or modify *
12 * it under the terms of the GNU General Public License as published by *
13 * the Free Software Foundation; either version 2 of the License, or *
14 * (at your option) any later version. *
15 * *
16 * This program is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
19 * GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
20 * for more details. *
21 * *
22 ****************************************************************************/
23 #ifndef __VCGLIB_BOX3
24 #define __VCGLIB_BOX3
25
26 #include <vcg/space/point3.h>
27 #include <vcg/math/matrix44.h>
28 #include <vcg/space/line3.h>
29 #include <vcg/space/plane3.h>
30
31 namespace vcg {
32
33 /** \addtogroup space */
34 /*@{*/
35 /**
36 Templated class for 3D boxes.
37 This is the class for definition of a axis aligned bounding box in 3D space. It is stored just as two Point3
38 @param BoxScalarType (template parameter) Specifies the type of scalar used to represent coords.
39 */
40 template <class BoxScalarType>
41 class Box3
42 {
43 public:
44
45 /// The scalar type
46 typedef BoxScalarType ScalarType;
47
48 /// min coordinate point
49 Point3<BoxScalarType> min;
50 /// max coordinate point
51 Point3<BoxScalarType> max;
52 /// The bounding box constructor
Box3()53 inline Box3() { min.X()= 1;max.X()= -1;min.Y()= 1;max.Y()= -1;min.Z()= 1;max.Z()= -1;}
54 /// Copy constructor
Box3(const Box3 & b)55 inline Box3( const Box3 & b ) { min=b.min; max=b.max; }
56 /// Min Max constructor
Box3(const Point3<BoxScalarType> & mi,const Point3<BoxScalarType> & ma)57 inline Box3( const Point3<BoxScalarType> & mi, const Point3<BoxScalarType> & ma ) { min = mi; max = ma; }
58 /// Point Radius Constructor
Box3(const Point3<BoxScalarType> & center,const BoxScalarType & radius)59 inline Box3(const Point3<BoxScalarType> & center, const BoxScalarType & radius) {
60 min = center-Point3<BoxScalarType>(radius,radius,radius);
61 max = center+Point3<BoxScalarType>(radius,radius,radius);
62 }
63 /// The bounding box distructor
~Box3()64 inline ~Box3() { }
65 /// Operator to compare two bounding box
66 inline bool operator == ( Box3<BoxScalarType> const & p ) const
67 {
68 return min==p.min && max==p.max;
69 }
70 /// Operator to dispare two bounding box
71 inline bool operator != ( Box3<BoxScalarType> const & p ) const
72 {
73 return min!=p.min || max!=p.max;
74 }
75 /** Offset of a vector (s,s,s)
76 */
Offset(const BoxScalarType s)77 void Offset( const BoxScalarType s )
78 {
79 Offset( Point3<BoxScalarType> (s,s,s));
80 }
81 /** Offset the two corner of the box of a vector delta.
82 * adding delta to max and -delta to min.
83 @param delta offset vector
84 */
Offset(const Point3<BoxScalarType> & delta)85 void Offset( const Point3<BoxScalarType> & delta )
86 {
87 min -= delta;
88 max += delta;
89 }
90 /// Initializing the bounding box
Set(const Point3<BoxScalarType> & p)91 void Set( const Point3<BoxScalarType> & p )
92 {
93 min = max = p;
94 }
95
96 /// Set the bounding box to a null value
SetNull()97 void SetNull()
98 {
99 min.X()= 1; max.X()= -1;
100 min.Y()= 1; max.Y()= -1;
101 min.Z()= 1; max.Z()= -1;
102 }
103 /** Modify the current bbox to contain also the passed box.
104 * Adding a null bounding box does nothing
105 */
Add(Box3<BoxScalarType> const & b)106 void Add( Box3<BoxScalarType> const & b )
107 {
108 if(b.IsNull()) return; // Adding a null bbox should do nothing
109 if(IsNull()) *this=b;
110 else
111 {
112 if(min.X() > b.min.X()) min.X() = b.min.X();
113 if(min.Y() > b.min.Y()) min.Y() = b.min.Y();
114 if(min.Z() > b.min.Z()) min.Z() = b.min.Z();
115
116 if(max.X() < b.max.X()) max.X() = b.max.X();
117 if(max.Y() < b.max.Y()) max.Y() = b.max.Y();
118 if(max.Z() < b.max.Z()) max.Z() = b.max.Z();
119 }
120 }
121 /** Modify the current bbox to contain also the passed point
122 */
Add(const Point3<BoxScalarType> & p)123 void Add( const Point3<BoxScalarType> & p )
124 {
125 if(IsNull()) Set(p);
126 else
127 {
128 if(min.X() > p.X()) min.X() = p.X();
129 if(min.Y() > p.Y()) min.Y() = p.Y();
130 if(min.Z() > p.Z()) min.Z() = p.Z();
131
132 if(max.X() < p.X()) max.X() = p.X();
133 if(max.Y() < p.Y()) max.Y() = p.Y();
134 if(max.Z() < p.Z()) max.Z() = p.Z();
135 }
136 }
137
138 /** Modify the current bbox to contain also the passed sphere
139 */
Add(const Point3<BoxScalarType> & p,const BoxScalarType radius)140 void Add( const Point3<BoxScalarType> & p, const BoxScalarType radius )
141 {
142 if(IsNull()) Set(p);
143 else
144 {
145 min.X() = std::min(min.X(),p.X()-radius);
146 min.Y() = std::min(min.Y(),p.Y()-radius);
147 min.Z() = std::min(min.Z(),p.Z()-radius);
148
149 max.X() = std::max(max.X(),p.X()+radius);
150 max.Y() = std::max(max.Y(),p.Y()+radius);
151 max.Z() = std::max(max.Z(),p.Z()+radius);
152 }
153 }
154 /** Modify the current bbox to contain also the box b trasformed according to the matrix m
155 */
Add(const Matrix44<BoxScalarType> & m,const Box3<BoxScalarType> & b)156 void Add( const Matrix44<BoxScalarType> &m, const Box3<BoxScalarType> & b )
157 {
158 if(b.IsNull()) return; // Adding a null bbox should do nothing
159
160 const Point3<BoxScalarType> &mn= b.min;
161 const Point3<BoxScalarType> &mx= b.max;
162 Add(m*(Point3<BoxScalarType>(mn[0],mn[1],mn[2])));
163 Add(m*(Point3<BoxScalarType>(mx[0],mn[1],mn[2])));
164 Add(m*(Point3<BoxScalarType>(mn[0],mx[1],mn[2])));
165 Add(m*(Point3<BoxScalarType>(mx[0],mx[1],mn[2])));
166 Add(m*(Point3<BoxScalarType>(mn[0],mn[1],mx[2])));
167 Add(m*(Point3<BoxScalarType>(mx[0],mn[1],mx[2])));
168 Add(m*(Point3<BoxScalarType>(mn[0],mx[1],mx[2])));
169 Add(m*(Point3<BoxScalarType>(mx[0],mx[1],mx[2])));
170 }
171 /** Calcola l'intersezione tra due bounding box. Al bounding box viene assegnato il valore risultante.
172 @param b Il bounding box con il quale si vuole effettuare l'intersezione
173 */
Intersect(const Box3<BoxScalarType> & b)174 void Intersect( const Box3<BoxScalarType> & b )
175 {
176 if(min.X() < b.min.X()) min.X() = b.min.X();
177 if(min.Y() < b.min.Y()) min.Y() = b.min.Y();
178 if(min.Z() < b.min.Z()) min.Z() = b.min.Z();
179
180 if(max.X() > b.max.X()) max.X() = b.max.X();
181 if(max.Y() > b.max.Y()) max.Y() = b.max.Y();
182 if(max.Z() > b.max.Z()) max.Z() = b.max.Z();
183
184 if(min.X()>max.X() || min.Y()>max.Y() || min.Z()>max.Z()) SetNull();
185 }
186 /** Trasla il bounding box di un valore definito dal parametro.
187 @param p Il bounding box trasla sulla x e sulla y in base alle coordinate del parametro
188 */
Translate(const Point3<BoxScalarType> & p)189 void Translate( const Point3<BoxScalarType> & p )
190 {
191 min += p;
192 max += p;
193 }
194 /** true if the point belong to the closed box
195 */
IsIn(Point3<BoxScalarType> const & p)196 bool IsIn( Point3<BoxScalarType> const & p ) const
197 {
198 return (
199 min.X() <= p.X() && p.X() <= max.X() &&
200 min.Y() <= p.Y() && p.Y() <= max.Y() &&
201 min.Z() <= p.Z() && p.Z() <= max.Z()
202 );
203 }
204 /** true if the point belong to the open box (open on the max side)
205 * e.g. if p in [min,max)
206 */
IsInEx(Point3<BoxScalarType> const & p)207 bool IsInEx( Point3<BoxScalarType> const & p ) const
208 {
209 return (
210 min.X() <= p.X() && p.X() < max.X() &&
211 min.Y() <= p.Y() && p.Y() < max.Y() &&
212 min.Z() <= p.Z() && p.Z() < max.Z()
213 );
214 }
215 /** Verifica se due bounding box collidono cioe' se hanno una intersezione non vuota. Per esempio
216 due bounding box adiacenti non collidono.
217 @param b A bounding box
218 @return True se collidoo, false altrimenti
219 */
220 /* old version
221 bool Collide(Box3<BoxScalarType> const &b)
222 {
223 Box3<BoxScalarType> bb=*this;
224 bb.Intersect(b);
225 return bb.IsValid();
226 }
227 */
Collide(Box3<BoxScalarType> const & b)228 bool Collide(Box3<BoxScalarType> const &b) const
229 {
230 return b.min.X()<max.X() && b.max.X()>min.X() &&
231 b.min.Y()<max.Y() && b.max.Y()>min.Y() &&
232 b.min.Z()<max.Z() && b.max.Z()>min.Z() ;
233 }
234 /**
235 return true if the box is null (e.g. invalid or not initialized);
236 */
IsNull()237 bool IsNull() const { return min.X()>max.X() || min.Y()>max.Y() || min.Z()>max.Z(); }
238 /** return true if the box is empty (e.g. if min == max)
239 */
IsEmpty()240 bool IsEmpty() const { return min==max; }
241 /// Return the lenght of the diagonal of the box .
Diag()242 BoxScalarType Diag() const
243 {
244 return Distance(min,max);
245 }
246 /// Calcola il quadrato della diagonale del bounding box.
SquaredDiag()247 BoxScalarType SquaredDiag() const
248 {
249 return SquaredDistance(min,max);
250 }
251 /// Return the center of the box.
Center()252 Point3<BoxScalarType> Center() const
253 {
254 return (min+max)/2;
255 }
256 /// Compute bounding box size.
Dim()257 Point3<BoxScalarType> Dim() const
258 {
259 return (max-min);
260 }
261 /// Returns global coords of a local point expressed in [0..1]^3
LocalToGlobal(Point3<BoxScalarType> const & p)262 Point3<BoxScalarType> LocalToGlobal(Point3<BoxScalarType> const & p) const{
263 return Point3<BoxScalarType>(
264 min[0] + p[0]*(max[0]-min[0]),
265 min[1] + p[1]*(max[1]-min[1]),
266 min[2] + p[2]*(max[2]-min[2]));
267 }
268 /// Returns local coords expressed in [0..1]^3 of a point in 3D
GlobalToLocal(Point3<BoxScalarType> const & p)269 Point3<BoxScalarType> GlobalToLocal(Point3<BoxScalarType> const & p) const{
270 return Point3<BoxScalarType>(
271 (p[0]-min[0])/(max[0]-min[0]),
272 (p[1]-min[1])/(max[1]-min[1]),
273 (p[2]-min[2])/(max[2]-min[2])
274 );
275 }
276 /// Return the volume of the box.
Volume()277 BoxScalarType Volume() const
278 {
279 return (max.X()-min.X())*(max.Y()-min.Y())*(max.Z()-min.Z());
280 }
281 /// Calcola la dimensione del bounding box sulla x.
DimX()282 inline BoxScalarType DimX() const { return max.X()-min.X();}
283 /// Calcola la dimensione del bounding box sulla y.
DimY()284 inline BoxScalarType DimY() const { return max.Y()-min.Y();}
285 /// Calcola la dimensione del bounding box sulla z.
DimZ()286 inline BoxScalarType DimZ() const { return max.Z()-min.Z();}
287 /// Calcola il lato di lunghezza maggiore
MaxDim()288 inline unsigned char MaxDim() const {
289 int i;
290 Point3<BoxScalarType> diag = max-min;
291 if(diag[0]>diag[1]) i=0; else i=1;
292 return (diag[i]>diag[2])? i: 2;
293 }
294 /// Calcola il lato di lunghezza minore
MinDim()295 inline unsigned char MinDim() const {
296 int i;
297 Point3<BoxScalarType> diag = max-min;
298 if(diag[0]<diag[1]) i=0; else i=1;
299 return (diag[i]<diag[2])? i: 2;
300 }
301
302 template <class Q>
Import(const Box3<Q> & b)303 inline void Import( const Box3<Q> & b )
304 {
305 min.Import(b.min);
306 max.Import(b.max);
307 }
308
309 template <class Q>
Construct(const Box3<Q> & b)310 static inline Box3 Construct( const Box3<Q> & b )
311 {
312 return Box3(Point3<BoxScalarType>::Construct(b.min),Point3<BoxScalarType>::Construct(b.max));
313 }
314
315 /// gives the ith box vertex in order: (x,y,z),(X,y,z),(x,Y,z),(X,Y,z),(x,y,Z),(X,y,Z),(x,Y,Z),(X,Y,Z)
P(const int & i)316 Point3<BoxScalarType> P(const int & i) const {
317 return Point3<BoxScalarType>(
318 min[0]+ (i%2) * DimX(),
319 min[1]+ ((i / 2)%2) * DimY(),
320 min[2]+ (i>3)* DimZ());
321 }
322 }; // end class definition
323
GetBBox(Box3<T> & bb)324 template <class T> Box3<T> Point3<T>::GetBBox(Box3<T> &bb) const {
325 bb.Set( *this );
326 }
327
328
329 typedef Box3<short> Box3s;
330 typedef Box3<int> Box3i;
331 typedef Box3<float> Box3f;
332 typedef Box3<double> Box3d;
333
334
335 /*@}*/
336
337 } // end namespace
338 #endif
339
340