csgeom/math3d.h
Go to the documentation of this file.00001 /* 00002 Copyright (C) 1998-2005 by Jorrit Tyberghein 00003 Largely rewritten by Ivan Avramovic <ivan@avramovic.com> 00004 00005 This library is free software; you can redistribute it and/or 00006 modify it under the terms of the GNU Library General Public 00007 License as published by the Free Software Foundation; either 00008 version 2 of the License, or (at your option) any later version. 00009 00010 This library is distributed in the hope that it will be useful, 00011 but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00013 Library General Public License for more details. 00014 00015 You should have received a copy of the GNU Library General Public 00016 License along with this library; if not, write to the Free 00017 Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00018 */ 00019 00020 #ifndef __CS_MATH3D_H__ 00021 #define __CS_MATH3D_H__ 00022 00030 #include "csextern.h" 00031 00032 #include "csgeom/box.h" 00033 #include "csgeom/frustum.h" 00034 #include "csgeom/plane3.h" 00035 #include "csgeom/segment.h" 00036 #include "csgeom/vector3.h" 00037 #include "csutil/ref.h" 00038 #include "csutil/scf_implementation.h" 00039 00040 #include "iutil/dbghelp.h" 00041 00042 struct iString; 00043 class csPlane2; 00044 class csPoly3D; 00045 00050 class CS_CRYSTALSPACE_EXPORT csMath3 00051 { 00052 public: 00065 static int WhichSide3D (const csVector3& p, 00066 const csVector3& v1, const csVector3& v2) 00067 { 00068 // float s = p * (v1%v2); (original expression: expanded to the below:) 00069 float s = p.x*(v1.y*v2.z-v1.z*v2.y) + p.y*(v1.z*v2.x-v1.x*v2.z) + 00070 p.z*(v1.x*v2.y-v1.y*v2.x); 00071 if (s < 0) return 1; 00072 else if (s > 0) return -1; 00073 else return 0; 00074 } 00075 00081 static bool Visible (const csVector3& p, const csVector3& t1, 00082 const csVector3& t2, const csVector3& t3); 00083 00089 static bool Visible (const csVector3& p, const csPlane3& pl) 00090 { return pl.Classify (p) <= 0; } 00091 00101 static void Between (const csVector3& v1, const csVector3& v2, csVector3& v, 00102 float pct, float wid); 00103 00110 static void SetMinMax (const csVector3& v, 00111 csVector3& min, csVector3& max) 00112 { 00113 if (v.x > max.x) max.x = v.x; else if (v.x < min.x ) min.x = v.x; 00114 if (v.y > max.y) max.y = v.y; else if (v.y < min.y ) min.y = v.y; 00115 if (v.z > max.z) max.z = v.z; else if (v.z < min.z ) min.z = v.z; 00116 } 00117 00123 inline static float DoubleArea3 (const csVector3 &a, const csVector3 &b, 00124 const csVector3 &c) 00125 { 00126 csVector3 v1 = b - a; 00127 csVector3 v2 = c - a; 00128 return (v1 % v2).Norm (); 00129 } 00130 00134 inline static float Direction3 (const csVector3 &a, const csVector3 &b, 00135 const csVector3 &c) 00136 { 00137 csVector3 v1 = b - a; 00138 csVector3 v2 = c - a; 00139 return ((v1.y * v2.z + v1.z * v2.x + v1.x * v2.y) - 00140 (v1.y * v2.x + v1.x * v2.z + v1.z * v2.y)); 00141 } 00142 00148 inline static void CalcNormal (csVector3& norm, const csVector3& v1, 00149 const csVector3& v2, const csVector3& v3) 00150 { 00151 norm = (v1-v2)%(v1-v3); 00152 } 00153 00159 static void CalcNormal (csVector3& norm, 00160 const csVector3& v, const csVector3& u) 00161 { norm = u%v; /* NOT v%u - vertexes are defined clockwise */ } 00162 00169 static void CalcPlane (const csVector3& v1, const csVector3& v2, 00170 const csVector3& v3, csVector3& normal, float& D) 00171 { 00172 CalcNormal (normal, v1, v2, v3); 00173 D = - (normal * v1); 00174 } 00175 00182 static bool PlanesEqual (const csPlane3& p1, const csPlane3& p2) 00183 { 00184 return ( ( p1.norm - p2.norm) < (float).001 ) && 00185 ( ABS (p1.DD-p2.DD) < (float).001 ); 00186 } 00187 00193 static bool PlanesClose (const csPlane3& p1, const csPlane3& p2); 00194 00202 static int OuterPlanes (const csBox3& box1, const csBox3& box2, 00203 csPlane3* planes); 00204 00212 static int FindObserverSides (const csBox3& box1, const csBox3& box2, 00213 int* sides); 00214 00220 static void SpherePosition (float angle_xz, float angle_vert, 00221 csVector3& pos); 00222 }; 00223 00228 class CS_CRYSTALSPACE_EXPORT csSquaredDist 00229 { 00230 public: 00232 static float PointPoint (const csVector3& p1, const csVector3& p2) 00233 { 00234 csVector3 d = (p1-p2); 00235 return d*d; 00236 } 00237 00239 static float PointLine (const csVector3& p, 00240 const csVector3& l1, const csVector3& l2); 00241 00243 static float PointPlane (const csVector3& p, const csPlane3& plane) 00244 { float r = plane.Classify (p); return r * r; } 00245 00252 static float PointPoly (const csVector3& p, csVector3 *V, int n, 00253 const csPlane3& plane, float sqdist = -1); 00254 }; 00255 00261 class CS_CRYSTALSPACE_EXPORT csIntersect3 00262 { 00263 private: 00264 static bool BoxPlaneInternal (const csVector3& normal, 00265 const csVector3& vert, const csVector3& boxhalfsize); 00266 00267 public: 00274 static bool PlanePolygon (const csPlane3& plane, csPoly3D* poly, 00275 csSegment3& segment); 00276 00286 static int SegmentFrustum (csPlane3* planes, int num_planes, 00287 csSegment3& seg); 00288 00295 static bool SegmentTriangle (const csSegment3& seg, 00296 const csVector3& tr1, 00297 const csVector3& tr2, const csVector3& tr3, 00298 csVector3& isect); 00299 00307 static bool SegmentPolygon (const csSegment3& seg, const csPoly3D& poly, 00308 const csPlane3& poly_plane, csVector3& isect); 00309 00318 static bool SegmentPlanes ( 00319 const csVector3& u, const csVector3& v, 00320 const csPlane3* planes, int length, 00321 csVector3& isect, float& dist); 00322 00328 static bool SegmentPlane ( 00329 const csVector3& u, const csVector3& v, 00330 const csVector3& normal, const csVector3& a, // plane 00331 csVector3& isect, float& dist); // intersection point 00332 00338 static bool SegmentPlane ( 00339 const csPlane3& plane, 00340 csSegment3& segment); 00341 00364 static bool SegmentPlane ( 00365 const csVector3& u, const csVector3& v, 00366 const csPlane3& p, // plane Ax+By+Cz+D=0 00367 csVector3& isect, // intersection point 00368 float& dist); // distance from u to isect 00369 00376 static bool ThreePlanes (const csPlane3& p1, const csPlane3& p2, 00377 const csPlane3& p3, csVector3& isect); 00378 00385 static bool PlaneXPlane (const csPlane3& p1, float x2, csPlane2& isect); 00386 00393 static bool PlaneYPlane (const csPlane3& p1, float y2, csPlane2& isect); 00394 00401 static bool PlaneZPlane (const csPlane3& p1, float z2, csPlane2& isect); 00402 00409 static bool PlaneAxisPlane (const csPlane3& p1, int nr, float pos, 00410 csPlane2& isect) 00411 { 00412 switch (nr) 00413 { 00414 case 0: return PlaneXPlane (p1, pos, isect); 00415 case 1: return PlaneYPlane (p1, pos, isect); 00416 case 2: return PlaneZPlane (p1, pos, isect); 00417 } 00418 return false; 00419 } 00420 00427 static float SegmentZ0Plane ( 00428 const csVector3& v1, const csVector3& v2, 00429 csVector3& isect); // intersection point 00430 00437 static float SegmentZ0Plane ( 00438 const csSegment3& uv, 00439 csVector3& isect) // intersection point 00440 { 00441 return SegmentZ0Plane (uv.Start (), uv.End (), isect); 00442 } 00443 00450 static float SegmentXPlane ( 00451 const csVector3& u, const csVector3& v, 00452 float xval, 00453 csVector3& isect); // intersection point 00454 00461 static float SegmentXPlane ( 00462 const csSegment3& uv, 00463 float xval, 00464 csVector3& isect) // intersection point 00465 { 00466 return SegmentXPlane (uv.Start (), uv.End (), xval, isect); 00467 } 00468 00475 static float SegmentYPlane ( 00476 const csVector3& u, const csVector3& v, 00477 float yval, // plane y = yval 00478 csVector3& isect); // intersection point 00479 00486 static float SegmentYPlane ( 00487 const csSegment3& uv, 00488 float yval, // plane y = yval 00489 csVector3& isect) // intersection point 00490 { 00491 return SegmentYPlane (uv.Start (), uv.End (), yval, isect); 00492 } 00493 00500 static float SegmentZPlane ( 00501 const csVector3& u, const csVector3& v, 00502 float zval, // plane z = zval 00503 csVector3& isect); // intersection point 00504 00511 static float SegmentZPlane ( 00512 const csSegment3& uv, 00513 float zval, // plane z = zval 00514 csVector3& isect) // intersection point 00515 { 00516 return SegmentZPlane (uv.Start (), uv.End (), zval, isect); 00517 } 00518 00525 static float SegmentAxisPlane (const csVector3& u, const csVector3& v, 00526 int nr, float pos, csVector3& isect) 00527 { 00528 switch (nr) 00529 { 00530 case 0: return SegmentXPlane (u, v, pos, isect); 00531 case 1: return SegmentYPlane (u, v, pos, isect); 00532 case 2: return SegmentZPlane (u, v, pos, isect); 00533 } 00534 return 0.0; 00535 } 00536 00541 static float SegmentXFrustum ( 00542 const csVector3& u, const csVector3& v, float A, csVector3& isect); 00543 00548 static float SegmentXFrustum ( 00549 const csSegment3& uv, float A, csVector3& isect) 00550 { 00551 return SegmentXFrustum (uv.Start (), uv.End (), A, isect); 00552 } 00553 00558 static float SegmentYFrustum ( 00559 const csVector3& u, const csVector3& v, float B, csVector3& isect); 00560 00565 static float SegmentYFrustum ( 00566 const csSegment3& uv, float B, csVector3& isect) 00567 { 00568 return SegmentYFrustum (uv.Start (), uv.End (), B, isect); 00569 } 00570 00589 static int BoxSegment (const csBox3& box, const csSegment3& segment, 00590 csVector3& isect, float* pr = 0, bool use_ray = false); 00591 00600 static bool ClipSegmentBox (csSegment3& segment, const csBox3& box, 00601 bool use_ray = false); 00602 00612 static bool BoxFrustum (const csBox3& box, const csPlane3* frustum, 00613 uint32 inClipMask, uint32& outClipMask); 00614 00618 static bool BoxFrustum (const csBox3& box, const csFrustum* frustum); 00619 00624 static bool BoxSphere (const csBox3& box, const csVector3& center, 00625 float sqradius); 00626 00630 static bool BoxPlane (const csBox3& box, const csPlane3& plane); 00631 00636 static bool BoxPlane (const csBox3& box, const csVector3& normal, 00637 const csVector3& vert); 00638 00642 static bool BoxTriangle (const csBox3& box, 00643 const csVector3& tri0, const csVector3& tri1, const csVector3& tri2); 00644 00648 static bool BoxBox (const csBox3& box1, const csBox3& box2) 00649 { 00650 return box1.TestIntersect (box2); 00651 } 00652 00656 static csPtr<csFrustum> FrustumFrustum (const csFrustum& f1, 00657 const csFrustum& f2) 00658 { 00659 return f1.Intersect (f2); 00660 } 00661 00665 static csPtr<csFrustum> FrustumFrustum (const csFrustum& f1, 00666 csVector3* poly, int num) 00667 { 00668 return f1.Intersect (poly, num); 00669 } 00670 00677 static bool TriangleTriangle (const csVector3 tri1[3], 00678 const csVector3 tri2[3]); 00679 00689 static bool TriangleTriangle (const csVector3 tri1[3], 00690 const csVector3 tri2[3], 00691 csSegment3& isectline, bool& coplanar); 00692 }; 00693 00694 00697 #endif // __CS_MATH3D_H__ 00698
Generated for Crystal Space 2.0 by doxygen 1.6.1