/*
* Copyright (c) 2003-2007 jMonkeyEngine
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of 'jMonkeyEngine' nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
package com.jme.bounding;
import java.io.IOException;
import java.nio.FloatBuffer;
import java.util.ArrayList;
import com.jme.intersection.IntersectionRecord;
import com.jme.math.FastMath;
import com.jme.math.Matrix3f;
import com.jme.math.Plane;
import com.jme.math.Quaternion;
import com.jme.math.Ray;
import com.jme.math.Triangle;
import com.jme.math.Vector3f;
import com.jme.scene.batch.GeomBatch;
import com.jme.scene.batch.TriangleBatch;
import com.jme.util.export.InputCapsule;
import com.jme.util.export.JMEExporter;
import com.jme.util.export.JMEImporter;
import com.jme.util.export.OutputCapsule;
import com.jme.util.geom.BufferUtils;
/**
* Started Date: Sep 5, 2004 <br>
* <br>
*
* @author Jack Lindamood
* @author Joshua Slack (alterations for .9)
* @version $Id: OrientedBoundingBox.java,v 1.34 2007/03/06 15:06:59 nca Exp $
*/
public class OrientedBoundingBox extends BoundingVolume {
private static final long serialVersionUID = 1L;
static private final Vector3f _compVect3 = new Vector3f();
static private final Vector3f _compVect4 = new Vector3f();
static private final Vector3f _compVect5 = new Vector3f();
static private final Vector3f _compVect6 = new Vector3f();
static private final Vector3f _compVect7 = new Vector3f();
static private final Vector3f tempVe = new Vector3f();
static private final Matrix3f tempMa = new Matrix3f();
static private final Quaternion tempQa = new Quaternion();
static private final Quaternion tempQb = new Quaternion();
private static final float[] fWdU = new float[3];
private static final float[] fAWdU = new float[3];
private static final float[] fDdU = new float[3];
private static final float[] fADdU = new float[3];
private static final float[] fAWxDdU = new float[3];
private static final float[] tempFa = new float[3];
private static final float[] tempFb = new float[3];
/** X axis of the Oriented Box. */
public final Vector3f xAxis = new Vector3f(1, 0, 0);
/** Y axis of the Oriented Box. */
public final Vector3f yAxis = new Vector3f(0, 1, 0);
/** Z axis of the Oriented Box. */
public final Vector3f zAxis = new Vector3f(0, 0, 1);
/** Extents of the box along the x,y,z axis. */
public final Vector3f extent = new Vector3f(0, 0, 0);
/** Vector array used to store the array of 8 corners the box has. */
public final Vector3f[] vectorStore = new Vector3f[8];
private final Vector3f tempVk = new Vector3f();
private final Vector3f tempForword = new Vector3f(0, 0, 1);
private final Vector3f tempLeft = new Vector3f(1, 0, 0);
private final Vector3f tempUp = new Vector3f(0, 1, 0);
static private final FloatBuffer _mergeBuf = BufferUtils
.createVector3Buffer(16);
/**
* If true, the box's vectorStore array correctly represnts the box's
* corners.
*/
public boolean correctCorners = false;
public OrientedBoundingBox() {
for (int x = 0; x < 8; x++)
vectorStore[x] = new Vector3f();
}
public int getType() {
return BoundingVolume.BOUNDING_OBB;
}
public BoundingVolume transform(Quaternion rotate, Vector3f translate,
Vector3f scale, BoundingVolume store) {
rotate.toRotationMatrix(tempMa);
return transform(tempMa, translate, scale, store);
}
public BoundingVolume transform(Matrix3f rotate, Vector3f translate,
Vector3f scale, BoundingVolume store) {
if (store == null || store.getType() != BoundingVolume.BOUNDING_OBB) {
store = new OrientedBoundingBox();
}
OrientedBoundingBox toReturn = (OrientedBoundingBox) store;
toReturn.extent.set(FastMath.abs(extent.x * scale.x),
FastMath.abs(extent.y * scale.y),
FastMath.abs(extent.z * scale.z));
rotate.mult(xAxis, toReturn.xAxis);
rotate.mult(yAxis, toReturn.yAxis);
rotate.mult(zAxis, toReturn.zAxis);
center.mult(scale, toReturn.center);
rotate.mult(toReturn.center, toReturn.center);
toReturn.center.addLocal(translate);
toReturn.correctCorners = false;
return toReturn;
}
public int whichSide(Plane plane) {
float fRadius = FastMath.abs(extent.x * (plane.getNormal().dot(xAxis)))
+ FastMath.abs(extent.y * (plane.getNormal().dot(yAxis)))
+ FastMath.abs(extent.z * (plane.getNormal().dot(zAxis)));
float fDistance = plane.pseudoDistance(center);
if (fDistance <= -fRadius)
return Plane.NEGATIVE_SIDE;
else if (fDistance >= fRadius)
return Plane.POSITIVE_SIDE;
else
return Plane.NO_SIDE;
}
public void computeFromPoints(FloatBuffer points) {
containAABB(points);
correctCorners = false;
}
/**
* <code>computeFromBatches</code> creates a new Oriented Bounding Box
* from a given set of batches which contain a list of points. It uses the
* <code>containAABB</code> method as default.
*
* @param batches
* the batches to contain.
*/
public void computeFromBatches(ArrayList batches) {
if (batches == null || batches.size() == 0) {
return;
}
OrientedBoundingBox temp = new OrientedBoundingBox();
temp.containAABB(((GeomBatch) batches.get(0)).getVertexBuffer());
for (int i = 1; i < batches.size(); i++) {
OrientedBoundingBox bb = new OrientedBoundingBox();
bb.containAABB(((GeomBatch) batches.get(i)).getVertexBuffer());
temp.mergeLocal(bb);
}
this.center = temp.getCenter();
this.extent.set(temp.extent);
this.xAxis.set(temp.xAxis);
this.yAxis.set(temp.yAxis);
this.zAxis.set(temp.zAxis);
correctCorners = false;
}
/**
* Calculates an AABB of the given point values for this OBB.
*
* @param points
* The points this OBB should contain.
*/
private void containAABB(FloatBuffer points) {
if (points == null || points.limit() <= 2) { // we need at least a 3
// float vector
return;
}
BufferUtils.populateFromBuffer(_compVect1, points, 0);
float minX = _compVect1.x, minY = _compVect1.y, minZ = _compVect1.z;
float maxX = _compVect1.x, maxY = _compVect1.y, maxZ = _compVect1.z;
for (int i = 1, len = points.limit() / 3; i < len; i++) {
BufferUtils.populateFromBuffer(_compVect1, points, i);
if (_compVect1.x < minX)
minX = _compVect1.x;
else if (_compVect1.x > maxX)
maxX = _compVect1.x;
if (_compVect1.y < minY)
minY = _compVect1.y;
else if (_compVect1.y > maxY)
maxY = _compVect1.y;
if (_compVect1.z < minZ)
minZ = _compVect1.z;
else if (_compVect1.z > maxZ)
maxZ = _compVect1.z;
}
center.set(minX + maxX, minY + maxY, minZ + maxZ);
center.multLocal(0.5f);
extent.set(maxX - center.x, maxY - center.y, maxZ - center.z);
xAxis.set(1, 0, 0);
yAxis.set(0, 1, 0);
zAxis.set(0, 0, 1);
correctCorners = false;
}
public BoundingVolume merge(BoundingVolume volume) {
return new OrientedBoundingBox().mergeLocal(volume);
}
public BoundingVolume mergeLocal(BoundingVolume volume) {
if (volume == null)
return this;
switch (volume.getType()) {
case BoundingVolume.BOUNDING_OBB: {
return mergeOBB((OrientedBoundingBox) volume);
}
case BoundingVolume.BOUNDING_BOX: {
return mergeAABB((BoundingBox) volume);
}
case BoundingVolume.BOUNDING_SPHERE: {
return mergeSphere((BoundingSphere) volume);
}
default:
return null;
}
}
private BoundingVolume mergeSphere(BoundingSphere volume) {
BoundingSphere mergeSphere = volume;
if (!correctCorners)
this.computeCorners();
_mergeBuf.rewind();
for (int i = 0; i < 8; i++) {
_mergeBuf.put(vectorStore[i].x);
_mergeBuf.put(vectorStore[i].y);
_mergeBuf.put(vectorStore[i].z);
}
_mergeBuf.put(mergeSphere.center.x + mergeSphere.radius).put(
mergeSphere.center.y + mergeSphere.radius).put(
mergeSphere.center.z + mergeSphere.radius);
_mergeBuf.put(mergeSphere.center.x - mergeSphere.radius).put(
mergeSphere.center.y + mergeSphere.radius).put(
mergeSphere.center.z + mergeSphere.radius);
_mergeBuf.put(mergeSphere.center.x + mergeSphere.radius).put(
mergeSphere.center.y - mergeSphere.radius).put(
mergeSphere.center.z + mergeSphere.radius);
_mergeBuf.put(mergeSphere.center.x + mergeSphere.radius).put(
mergeSphere.center.y + mergeSphere.radius).put(
mergeSphere.center.z - mergeSphere.radius);
_mergeBuf.put(mergeSphere.center.x - mergeSphere.radius).put(
mergeSphere.center.y - mergeSphere.radius).put(
mergeSphere.center.z + mergeSphere.radius);
_mergeBuf.put(mergeSphere.center.x - mergeSphere.radius).put(
mergeSphere.center.y + mergeSphere.radius).put(
mergeSphere.center.z - mergeSphere.radius);
_mergeBuf.put(mergeSphere.center.x + mergeSphere.radius).put(
mergeSphere.center.y - mergeSphere.radius).put(
mergeSphere.center.z - mergeSphere.radius);
_mergeBuf.put(mergeSphere.center.x - mergeSphere.radius).put(
mergeSphere.center.y - mergeSphere.radius).put(
mergeSphere.center.z - mergeSphere.radius);
containAABB(_mergeBuf);
correctCorners = false;
return this;
}
private BoundingVolume mergeAABB(BoundingBox volume) {
BoundingBox mergeBox = volume;
if (!correctCorners)
this.computeCorners();
_mergeBuf.rewind();
for (int i = 0; i < 8; i++) {
_mergeBuf.put(vectorStore[i].x);
_mergeBuf.put(vectorStore[i].y);
_mergeBuf.put(vectorStore[i].z);
}
_mergeBuf.put(mergeBox.center.x + mergeBox.xExtent).put(
mergeBox.center.y + mergeBox.yExtent).put(
mergeBox.center.z + mergeBox.zExtent);
_mergeBuf.put(mergeBox.center.x - mergeBox.xExtent).put(
mergeBox.center.y + mergeBox.yExtent).put(
mergeBox.center.z + mergeBox.zExtent);
_mergeBuf.put(mergeBox.center.x + mergeBox.xExtent).put(
mergeBox.center.y - mergeBox.yExtent).put(
mergeBox.center.z + mergeBox.zExtent);
_mergeBuf.put(mergeBox.center.x + mergeBox.xExtent).put(
mergeBox.center.y + mergeBox.yExtent).put(
mergeBox.center.z - mergeBox.zExtent);
_mergeBuf.put(mergeBox.center.x - mergeBox.xExtent).put(
mergeBox.center.y - mergeBox.yExtent).put(
mergeBox.center.z + mergeBox.zExtent);
_mergeBuf.put(mergeBox.center.x - mergeBox.xExtent).put(
mergeBox.center.y + mergeBox.yExtent).put(
mergeBox.center.z - mergeBox.zExtent);
_mergeBuf.put(mergeBox.center.x + mergeBox.xExtent).put(
mergeBox.center.y - mergeBox.yExtent).put(
mergeBox.center.z - mergeBox.zExtent);
_mergeBuf.put(mergeBox.center.x - mergeBox.xExtent).put(
mergeBox.center.y - mergeBox.yExtent).put(
mergeBox.center.z - mergeBox.zExtent);
containAABB(_mergeBuf);
correctCorners = false;
return this;
}
private BoundingVolume mergeOBB(OrientedBoundingBox volume) {
// OrientedBoundingBox mergeBox=(OrientedBoundingBox) volume;
// if (!correctCorners) this.computeCorners();
// if (!mergeBox.correctCorners) mergeBox.computeCorners();
// Vector3f[] mergeArray=new Vector3f[16];
// for (int i=0;i<vectorStore.length;i++){
// mergeArray[i*2+0]=this .vectorStore[i];
// mergeArray[i*2+1]=mergeBox.vectorStore[i];
// }
// containAABB(mergeArray);
// correctCorners=false;
// return this;
// construct a box that contains the input boxes
// Box3<Real> kBox;
OrientedBoundingBox rkBox0 = this;
OrientedBoundingBox rkBox1 = volume;
// The first guess at the box center. This value will be updated later
// after the input box vertices are projected onto axes determined by an
// average of box axes.
Vector3f kBoxCenter = (rkBox0.center.add(rkBox1.center, _compVect7))
.multLocal(.5f);
// A box's axes, when viewed as the columns of a matrix, form a rotation
// matrix. The input box axes are converted to quaternions. The average
// quaternion is computed, then normalized to unit length. The result is
// the slerp of the two input quaternions with t-value of 1/2. The
// result
// is converted back to a rotation matrix and its columns are selected
// as
// the merged box axes.
Quaternion kQ0 = tempQa, kQ1 = tempQb;
kQ0.fromAxes(rkBox0.xAxis, rkBox0.yAxis, rkBox0.zAxis);
kQ1.fromAxes(rkBox1.xAxis, rkBox1.yAxis, rkBox1.zAxis);
if (kQ0.dot(kQ1) < 0.0f)
kQ1.negate();
Quaternion kQ = kQ0.addLocal(kQ1);
kQ.normalize();
Matrix3f kBoxaxis = kQ.toRotationMatrix(tempMa);
kBoxaxis.getColumn(0, xAxis);
kBoxaxis.getColumn(1, yAxis);
kBoxaxis.getColumn(2, zAxis);
correctCorners = false;
// Project the input box vertices onto the merged-box axes. Each axis
// D[i] containing the current center C has a minimum projected value
// pmin[i] and a maximum projected value pmax[i]. The corresponding end
// points on the axes are C+pmin[i]*D[i] and C+pmax[i]*D[i]. The point C
// is not necessarily the midpoint for any of the intervals. The actual
// box center will be adjusted from C to a point C' that is the midpoint
// of each interval,
// C' = C + sum_{i=0}^1 0.5*(pmin[i]+pmax[i])*D[i]
// The box extents are
// e[i] = 0.5*(pmax[i]-pmin[i])
int i;
float fDot;
Vector3f kDiff = _compVect4;
Vector3f kMin = _compVect5;
Vector3f kMax = _compVect6;
kMin.x = kMin.y = kMin.z = +Float.MAX_VALUE;
kMax.x = kMax.y = kMax.z = -Float.MAX_VALUE;
if (!rkBox0.correctCorners)
rkBox0.computeCorners();
for (i = 0; i < 8; i++) {
rkBox0.vectorStore[i].subtract(kBoxCenter, kDiff);
fDot = kDiff.dot(xAxis);
if (fDot > kMax.x)
kMax.x = fDot;
else if (fDot < kMin.x)
kMin.x = fDot;
fDot = kDiff.dot(yAxis);
if (fDot > kMax.y)
kMax.y = fDot;
else if (fDot < kMin.y)
kMin.y = fDot;
fDot = kDiff.dot(zAxis);
if (fDot > kMax.z)
kMax.z = fDot;
else if (fDot < kMin.z)
kMin.z = fDot;
}
if (!rkBox1.correctCorners)
rkBox1.computeCorners();
for (i = 0; i < 8; i++) {
rkBox1.vectorStore[i].subtract(kBoxCenter, kDiff);
fDot = kDiff.dot(xAxis);
if (fDot > kMax.x)
kMax.x = fDot;
else if (fDot < kMin.x)
kMin.x = fDot;
fDot = kDiff.dot(yAxis);
if (fDot > kMax.y)
kMax.y = fDot;
else if (fDot < kMin.y)
kMin.y = fDot;
fDot = kDiff.dot(zAxis);
if (fDot > kMax.z)
kMax.z = fDot;
else if (fDot < kMin.z)
kMin.z = fDot;
}
this.extent.x = .5f * (kMax.x - kMin.x);
kBoxCenter.addLocal(this.xAxis.mult(.5f * (kMax.x + kMin.x), tempVe));
this.extent.y = .5f * (kMax.y - kMin.y);
kBoxCenter.addLocal(this.yAxis.mult(.5f * (kMax.y + kMin.y), tempVe));
this.extent.z = .5f * (kMax.z - kMin.z);
kBoxCenter.addLocal(this.zAxis.mult(.5f * (kMax.z + kMin.z), tempVe));
this.center.set(kBoxCenter);
this.correctCorners = false;
return this;
}
public BoundingVolume clone(BoundingVolume store) {
OrientedBoundingBox toReturn;
if (store instanceof OrientedBoundingBox) {
toReturn = (OrientedBoundingBox) store;
} else {
toReturn = new OrientedBoundingBox();
}
toReturn.extent.set(extent);
toReturn.xAxis.set(xAxis);
toReturn.yAxis.set(yAxis);
toReturn.zAxis.set(zAxis);
toReturn.center.set(center);
toReturn.checkPlane = checkPlane;
for (int x = vectorStore.length; --x >= 0; )
toReturn.vectorStore[x].set(vectorStore[x]);
toReturn.correctCorners = this.correctCorners;
return toReturn;
}
public void recomputeMesh() {
if (!correctCorners)
computeCorners();
}
/**
* Sets the vectorStore information to the 8 corners of the box.
*/
public void computeCorners() {
correctCorners = true;
float xDotYcrossZ = xAxis.dot(yAxis.cross(zAxis, _compVect1));
Vector3f yCrossZmulX = yAxis.cross(zAxis, _compVect1).multLocal(
extent.x);
Vector3f zCrossXmulY = zAxis.cross(xAxis, _compVect2).multLocal(
extent.y);
Vector3f xCrossYmulZ = xAxis.cross(yAxis, _compVect3).multLocal(
extent.z);
vectorStore[0].set(
((yCrossZmulX.x + zCrossXmulY.x + xCrossYmulZ.x) / xDotYcrossZ)
+ center.x,
((yCrossZmulX.y + zCrossXmulY.y + xCrossYmulZ.y) / xDotYcrossZ)
+ center.y,
((yCrossZmulX.z + zCrossXmulY.z + xCrossYmulZ.z) / xDotYcrossZ)
+ center.z);
vectorStore[1].set((-yCrossZmulX.x + zCrossXmulY.x + xCrossYmulZ.x)
/ xDotYcrossZ + center.x,
(-yCrossZmulX.y + zCrossXmulY.y + xCrossYmulZ.y) / xDotYcrossZ
+ center.y,
(-yCrossZmulX.z + zCrossXmulY.z + xCrossYmulZ.z) / xDotYcrossZ
+ center.z);
vectorStore[2].set((yCrossZmulX.x + -zCrossXmulY.x + xCrossYmulZ.x)
/ xDotYcrossZ + center.x,
(yCrossZmulX.y + -zCrossXmulY.y + xCrossYmulZ.y) / xDotYcrossZ
+ center.y,
(yCrossZmulX.z + -zCrossXmulY.z + xCrossYmulZ.z) / xDotYcrossZ
+ center.z);
vectorStore[3].set((yCrossZmulX.x + zCrossXmulY.x + -xCrossYmulZ.x)
/ xDotYcrossZ + center.x,
(yCrossZmulX.y + zCrossXmulY.y + -xCrossYmulZ.y) / xDotYcrossZ
+ center.y,
(yCrossZmulX.z + zCrossXmulY.z + -xCrossYmulZ.z) / xDotYcrossZ
+ center.z);
vectorStore[4].set((-yCrossZmulX.x + -zCrossXmulY.x + xCrossYmulZ.x)
/ xDotYcrossZ + center.x,
(-yCrossZmulX.y + -zCrossXmulY.y + xCrossYmulZ.y) / xDotYcrossZ
+ center.y,
(-yCrossZmulX.z + -zCrossXmulY.z + xCrossYmulZ.z) / xDotYcrossZ
+ center.z);
vectorStore[5].set((-yCrossZmulX.x + zCrossXmulY.x + -xCrossYmulZ.x)
/ xDotYcrossZ + center.x,
(-yCrossZmulX.y + zCrossXmulY.y + -xCrossYmulZ.y) / xDotYcrossZ
+ center.y,
(-yCrossZmulX.z + zCrossXmulY.z + -xCrossYmulZ.z) / xDotYcrossZ
+ center.z);
vectorStore[6].set((yCrossZmulX.x + -zCrossXmulY.x + -xCrossYmulZ.x)
/ xDotYcrossZ + center.x,
(yCrossZmulX.y + -zCrossXmulY.y + -xCrossYmulZ.y) / xDotYcrossZ
+ center.y,
(yCrossZmulX.z + -zCrossXmulY.z + -xCrossYmulZ.z) / xDotYcrossZ
+ center.z);
vectorStore[7].set(-(yCrossZmulX.x + zCrossXmulY.x + xCrossYmulZ.x)
/ xDotYcrossZ + center.x,
-(yCrossZmulX.y + zCrossXmulY.y + xCrossYmulZ.y) / xDotYcrossZ
+ center.y,
-(yCrossZmulX.z + zCrossXmulY.z + xCrossYmulZ.z) / xDotYcrossZ
+ center.z);
}
public void computeFromTris(int[] indices, TriangleBatch batch, int start, int end) {
if (end - start <= 0) {
return;
}
Vector3f[] verts = new Vector3f[3];
Vector3f min = _compVect1.set(new Vector3f(Float.POSITIVE_INFINITY, Float.POSITIVE_INFINITY, Float.POSITIVE_INFINITY));
Vector3f max = _compVect2.set(new Vector3f(Float.NEGATIVE_INFINITY, Float.NEGATIVE_INFINITY, Float.NEGATIVE_INFINITY));
Vector3f point;
for (int i = start; i < end; i++) {
batch.getTriangle(indices[i], verts);
point = verts[0];
if (point.x < min.x)
min.x = point.x;
else if (point.x > max.x)
max.x = point.x;
if (point.y < min.y)
min.y = point.y;
else if (point.y > max.y)
max.y = point.y;
if (point.z < min.z)
min.z = point.z;
else if (point.z > max.z)
max.z = point.z;
point = verts[1];
if (point.x < min.x)
min.x = point.x;
else if (point.x > max.x)
max.x = point.x;
if (point.y < min.y)
min.y = point.y;
else if (point.y > max.y)
max.y = point.y;
if (point.z < min.z)
min.z = point.z;
else if (point.z > max.z)
max.z = point.z;
point = verts[2];
if (point.x < min.x)
min.x = point.x;
else if (point.x > max.x)
max.x = point.x;
if (point.y < min.y)
min.y = point.y;
else if (point.y > max.y)
max.y = point.y;
if (point.z < min.z)
min.z = point.z;
else if (point.z > max.z)
max.z = point.z;
}
center.set(min.addLocal(max));
center.multLocal(0.5f);
extent.set(max.x - center.x, max.y - center.y, max.z - center.z);
xAxis.set(1, 0, 0);
yAxis.set(0, 1, 0);
zAxis.set(0, 0, 1);
correctCorners = false;
}
public void computeFromTris(Triangle[] tris, int start, int end) {
if (end - start <= 0) {
return;
}
Vector3f min = _compVect1.set(tris[start].get(0));
Vector3f max = _compVect2.set(min);
Vector3f point;
for (int i = start; i < end; i++) {
point = tris[i].get(0);
if (point.x < min.x)
min.x = point.x;
else if (point.x > max.x)
max.x = point.x;
if (point.y < min.y)
min.y = point.y;
else if (point.y > max.y)
max.y = point.y;
if (point.z < min.z)
min.z = point.z;
else if (point.z > max.z)
max.z = point.z;
point = tris[i].get(1);
if (point.x < min.x)
min.x = point.x;
else if (point.x > max.x)
max.x = point.x;
if (point.y < min.y)
min.y = point.y;
else if (point.y > max.y)
max.y = point.y;
if (point.z < min.z)
min.z = point.z;
else if (point.z > max.z)
max.z = point.z;
point = tris[i].get(2);
if (point.x < min.x)
min.x = point.x;
else if (point.x > max.x)
max.x = point.x;
if (point.y < min.y)
min.y = point.y;
else if (point.y > max.y)
max.y = point.y;
if (point.z < min.z)
min.z = point.z;
else if (point.z > max.z)
max.z = point.z;
}
center.set(min.addLocal(max));
center.multLocal(0.5f);
extent.set(max.x - center.x, max.y - center.y, max.z - center.z);
xAxis.set(1, 0, 0);
yAxis.set(0, 1, 0);
zAxis.set(0, 0, 1);
correctCorners = false;
}
public boolean intersection(OrientedBoundingBox box1) {
// Cutoff for cosine of angles between box axes. This is used to catch
// the cases when at least one pair of axes are parallel. If this
// happens,
// there is no need to test for separation along the Cross(A[i],B[j])
// directions.
OrientedBoundingBox box0 = this;
float cutoff = 0.999999f;
boolean parallelPairExists = false;
int i;
// convenience variables
Vector3f akA[] = new Vector3f[] { box0.xAxis, box0.yAxis, box0.zAxis };
Vector3f[] akB = new Vector3f[] { box1.xAxis, box1.yAxis, box1.zAxis };
Vector3f afEA = box0.extent;
Vector3f afEB = box1.extent;
// compute difference of box centers, D = C1-C0
Vector3f kD = box1.center.subtract(box0.center, _compVect1);
float[][] aafC = { fWdU, fAWdU, fDdU };
float[][] aafAbsC = { fADdU, fAWxDdU, tempFa };
float[] afAD = tempFb;
float fR0, fR1, fR; // interval radii and distance between centers
float fR01; // = R0 + R1
// axis C0+t*A0
for (i = 0; i < 3; i++) {
aafC[0][i] = akA[0].dot(akB[i]);
aafAbsC[0][i] = FastMath.abs(aafC[0][i]);
if (aafAbsC[0][i] > cutoff) {
parallelPairExists = true;
}
}
afAD[0] = akA[0].dot(kD);
fR = FastMath.abs(afAD[0]);
fR1 = afEB.x * aafAbsC[0][0] + afEB.y * aafAbsC[0][1] + afEB.z
* aafAbsC[0][2];
fR01 = afEA.x + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1
for (i = 0; i < 3; i++) {
aafC[1][i] = akA[1].dot(akB[i]);
aafAbsC[1][i] = FastMath.abs(aafC[1][i]);
if (aafAbsC[1][i] > cutoff) {
parallelPairExists = true;
}
}
afAD[1] = akA[1].dot(kD);
fR = FastMath.abs(afAD[1]);
fR1 = afEB.x * aafAbsC[1][0] + afEB.y * aafAbsC[1][1] + afEB.z
* aafAbsC[1][2];
fR01 = afEA.y + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2
for (i = 0; i < 3; i++) {
aafC[2][i] = akA[2].dot(akB[i]);
aafAbsC[2][i] = FastMath.abs(aafC[2][i]);
if (aafAbsC[2][i] > cutoff) {
parallelPairExists = true;
}
}
afAD[2] = akA[2].dot(kD);
fR = FastMath.abs(afAD[2]);
fR1 = afEB.x * aafAbsC[2][0] + afEB.y * aafAbsC[2][1] + afEB.z
* aafAbsC[2][2];
fR01 = afEA.z + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*B0
fR = FastMath.abs(akB[0].dot(kD));
fR0 = afEA.x * aafAbsC[0][0] + afEA.y * aafAbsC[1][0] + afEA.z
* aafAbsC[2][0];
fR01 = fR0 + afEB.x;
if (fR > fR01) {
return false;
}
// axis C0+t*B1
fR = FastMath.abs(akB[1].dot(kD));
fR0 = afEA.x * aafAbsC[0][1] + afEA.y * aafAbsC[1][1] + afEA.z
* aafAbsC[2][1];
fR01 = fR0 + afEB.y;
if (fR > fR01) {
return false;
}
// axis C0+t*B2
fR = FastMath.abs(akB[2].dot(kD));
fR0 = afEA.x * aafAbsC[0][2] + afEA.y * aafAbsC[1][2] + afEA.z
* aafAbsC[2][2];
fR01 = fR0 + afEB.z;
if (fR > fR01) {
return false;
}
// At least one pair of box axes was parallel, so the separation is
// effectively in 2D where checking the "edge" normals is sufficient for
// the separation of the boxes.
if (parallelPairExists) {
return true;
}
// axis C0+t*A0xB0
fR = FastMath.abs(afAD[2] * aafC[1][0] - afAD[1] * aafC[2][0]);
fR0 = afEA.y * aafAbsC[2][0] + afEA.z * aafAbsC[1][0];
fR1 = afEB.y * aafAbsC[0][2] + afEB.z * aafAbsC[0][1];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A0xB1
fR = FastMath.abs(afAD[2] * aafC[1][1] - afAD[1] * aafC[2][1]);
fR0 = afEA.y * aafAbsC[2][1] + afEA.z * aafAbsC[1][1];
fR1 = afEB.x * aafAbsC[0][2] + afEB.z * aafAbsC[0][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A0xB2
fR = FastMath.abs(afAD[2] * aafC[1][2] - afAD[1] * aafC[2][2]);
fR0 = afEA.y * aafAbsC[2][2] + afEA.z * aafAbsC[1][2];
fR1 = afEB.x * aafAbsC[0][1] + afEB.y * aafAbsC[0][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1xB0
fR = FastMath.abs(afAD[0] * aafC[2][0] - afAD[2] * aafC[0][0]);
fR0 = afEA.x * aafAbsC[2][0] + afEA.z * aafAbsC[0][0];
fR1 = afEB.y * aafAbsC[1][2] + afEB.z * aafAbsC[1][1];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1xB1
fR = FastMath.abs(afAD[0] * aafC[2][1] - afAD[2] * aafC[0][1]);
fR0 = afEA.x * aafAbsC[2][1] + afEA.z * aafAbsC[0][1];
fR1 = afEB.x * aafAbsC[1][2] + afEB.z * aafAbsC[1][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1xB2
fR = FastMath.abs(afAD[0] * aafC[2][2] - afAD[2] * aafC[0][2]);
fR0 = afEA.x * aafAbsC[2][2] + afEA.z * aafAbsC[0][2];
fR1 = afEB.x * aafAbsC[1][1] + afEB.y * aafAbsC[1][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2xB0
fR = FastMath.abs(afAD[1] * aafC[0][0] - afAD[0] * aafC[1][0]);
fR0 = afEA.x * aafAbsC[1][0] + afEA.y * aafAbsC[0][0];
fR1 = afEB.y * aafAbsC[2][2] + afEB.z * aafAbsC[2][1];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2xB1
fR = FastMath.abs(afAD[1] * aafC[0][1] - afAD[0] * aafC[1][1]);
fR0 = afEA.x * aafAbsC[1][1] + afEA.y * aafAbsC[0][1];
fR1 = afEB.x * aafAbsC[2][2] + afEB.z * aafAbsC[2][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2xB2
fR = FastMath.abs(afAD[1] * aafC[0][2] - afAD[0] * aafC[1][2]);
fR0 = afEA.x * aafAbsC[1][2] + afEA.y * aafAbsC[0][2];
fR1 = afEB.x * aafAbsC[2][1] + afEB.y * aafAbsC[2][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
return true;
}
/*
* (non-Javadoc)
*
* @see com.jme.bounding.BoundingVolume#intersects(com.jme.bounding.BoundingVolume)
*/
public boolean intersects(BoundingVolume bv) {
if (bv == null)
return false;
return bv.intersectsOrientedBoundingBox(this);
}
/*
* (non-Javadoc)
*
* @see com.jme.bounding.BoundingVolume#intersectsSphere(com.jme.bounding.BoundingSphere)
*/
public boolean intersectsSphere(BoundingSphere bs) {
_compVect1.set(bs.getCenter()).subtractLocal(center);
tempMa.fromAxes(xAxis, yAxis, zAxis);
tempMa.mult(_compVect1, _compVect2);
if (FastMath.abs(_compVect2.x) < bs.getRadius() + extent.x
&& FastMath.abs(_compVect2.y) < bs.getRadius() + extent.y
&& FastMath.abs(_compVect2.z) < bs.getRadius() + extent.z)
return true;
return false;
}
/*
* (non-Javadoc)
*
* @see com.jme.bounding.BoundingVolume#intersectsBoundingBox(com.jme.bounding.BoundingBox)
*/
public boolean intersectsBoundingBox(BoundingBox bb) {
// Cutoff for cosine of angles between box axes. This is used to catch
// the cases when at least one pair of axes are parallel. If this
// happens,
// there is no need to test for separation along the Cross(A[i],B[j])
// directions.
float cutoff = 0.999999f;
boolean parallelPairExists = false;
int i;
// convenience variables
Vector3f akA[] = new Vector3f[] { xAxis, yAxis, zAxis };
Vector3f[] akB = new Vector3f[] { tempForword, tempLeft, tempUp };
Vector3f afEA = extent;
Vector3f afEB = tempVk.set(bb.xExtent, bb.yExtent, bb.zExtent);
// compute difference of box centers, D = C1-C0
Vector3f kD = bb.getCenter().subtract(center, _compVect1);
float[][] aafC = { fWdU, fAWdU, fDdU };
float[][] aafAbsC = { fADdU, fAWxDdU, tempFa };
float[] afAD = tempFb;
float fR0, fR1, fR; // interval radii and distance between centers
float fR01; // = R0 + R1
// axis C0+t*A0
for (i = 0; i < 3; i++) {
aafC[0][i] = akA[0].dot(akB[i]);
aafAbsC[0][i] = FastMath.abs(aafC[0][i]);
if (aafAbsC[0][i] > cutoff) {
parallelPairExists = true;
}
}
afAD[0] = akA[0].dot(kD);
fR = FastMath.abs(afAD[0]);
fR1 = afEB.x * aafAbsC[0][0] + afEB.y * aafAbsC[0][1] + afEB.z
* aafAbsC[0][2];
fR01 = afEA.x + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1
for (i = 0; i < 3; i++) {
aafC[1][i] = akA[1].dot(akB[i]);
aafAbsC[1][i] = FastMath.abs(aafC[1][i]);
if (aafAbsC[1][i] > cutoff) {
parallelPairExists = true;
}
}
afAD[1] = akA[1].dot(kD);
fR = FastMath.abs(afAD[1]);
fR1 = afEB.x * aafAbsC[1][0] + afEB.y * aafAbsC[1][1] + afEB.z
* aafAbsC[1][2];
fR01 = afEA.y + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2
for (i = 0; i < 3; i++) {
aafC[2][i] = akA[2].dot(akB[i]);
aafAbsC[2][i] = FastMath.abs(aafC[2][i]);
if (aafAbsC[2][i] > cutoff) {
parallelPairExists = true;
}
}
afAD[2] = akA[2].dot(kD);
fR = FastMath.abs(afAD[2]);
fR1 = afEB.x * aafAbsC[2][0] + afEB.y * aafAbsC[2][1] + afEB.z
* aafAbsC[2][2];
fR01 = afEA.z + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*B0
fR = FastMath.abs(akB[0].dot(kD));
fR0 = afEA.x * aafAbsC[0][0] + afEA.y * aafAbsC[1][0] + afEA.z
* aafAbsC[2][0];
fR01 = fR0 + afEB.x;
if (fR > fR01) {
return false;
}
// axis C0+t*B1
fR = FastMath.abs(akB[1].dot(kD));
fR0 = afEA.x * aafAbsC[0][1] + afEA.y * aafAbsC[1][1] + afEA.z
* aafAbsC[2][1];
fR01 = fR0 + afEB.y;
if (fR > fR01) {
return false;
}
// axis C0+t*B2
fR = FastMath.abs(akB[2].dot(kD));
fR0 = afEA.x * aafAbsC[0][2] + afEA.y * aafAbsC[1][2] + afEA.z
* aafAbsC[2][2];
fR01 = fR0 + afEB.z;
if (fR > fR01) {
return false;
}
// At least one pair of box axes was parallel, so the separation is
// effectively in 2D where checking the "edge" normals is sufficient for
// the separation of the boxes.
if (parallelPairExists) {
return true;
}
// axis C0+t*A0xB0
fR = FastMath.abs(afAD[2] * aafC[1][0] - afAD[1] * aafC[2][0]);
fR0 = afEA.y * aafAbsC[2][0] + afEA.z * aafAbsC[1][0];
fR1 = afEB.y * aafAbsC[0][2] + afEB.z * aafAbsC[0][1];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A0xB1
fR = FastMath.abs(afAD[2] * aafC[1][1] - afAD[1] * aafC[2][1]);
fR0 = afEA.y * aafAbsC[2][1] + afEA.z * aafAbsC[1][1];
fR1 = afEB.x * aafAbsC[0][2] + afEB.z * aafAbsC[0][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A0xB2
fR = FastMath.abs(afAD[2] * aafC[1][2] - afAD[1] * aafC[2][2]);
fR0 = afEA.y * aafAbsC[2][2] + afEA.z * aafAbsC[1][2];
fR1 = afEB.x * aafAbsC[0][1] + afEB.y * aafAbsC[0][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1xB0
fR = FastMath.abs(afAD[0] * aafC[2][0] - afAD[2] * aafC[0][0]);
fR0 = afEA.x * aafAbsC[2][0] + afEA.z * aafAbsC[0][0];
fR1 = afEB.y * aafAbsC[1][2] + afEB.z * aafAbsC[1][1];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1xB1
fR = FastMath.abs(afAD[0] * aafC[2][1] - afAD[2] * aafC[0][1]);
fR0 = afEA.x * aafAbsC[2][1] + afEA.z * aafAbsC[0][1];
fR1 = afEB.x * aafAbsC[1][2] + afEB.z * aafAbsC[1][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1xB2
fR = FastMath.abs(afAD[0] * aafC[2][2] - afAD[2] * aafC[0][2]);
fR0 = afEA.x * aafAbsC[2][2] + afEA.z * aafAbsC[0][2];
fR1 = afEB.x * aafAbsC[1][1] + afEB.y * aafAbsC[1][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2xB0
fR = FastMath.abs(afAD[1] * aafC[0][0] - afAD[0] * aafC[1][0]);
fR0 = afEA.x * aafAbsC[1][0] + afEA.y * aafAbsC[0][0];
fR1 = afEB.y * aafAbsC[2][2] + afEB.z * aafAbsC[2][1];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2xB1
fR = FastMath.abs(afAD[1] * aafC[0][1] - afAD[0] * aafC[1][1]);
fR0 = afEA.x * aafAbsC[1][1] + afEA.y * aafAbsC[0][1];
fR1 = afEB.x * aafAbsC[2][2] + afEB.z * aafAbsC[2][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2xB2
fR = FastMath.abs(afAD[1] * aafC[0][2] - afAD[0] * aafC[1][2]);
fR0 = afEA.x * aafAbsC[1][2] + afEA.y * aafAbsC[0][2];
fR1 = afEB.x * aafAbsC[2][1] + afEB.y * aafAbsC[2][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
return true;
}
/*
* (non-Javadoc)
*
* @see com.jme.bounding.BoundingVolume#intersectsOBB2(com.jme.bounding.OBB2)
*/
public boolean intersectsOrientedBoundingBox(OrientedBoundingBox obb) {
// Cutoff for cosine of angles between box axes. This is used to catch
// the cases when at least one pair of axes are parallel. If this
// happens,
// there is no need to test for separation along the Cross(A[i],B[j])
// directions.
float cutoff = 0.999999f;
boolean parallelPairExists = false;
int i;
// convenience variables
Vector3f akA[] = new Vector3f[] { xAxis, yAxis, zAxis };
Vector3f[] akB = new Vector3f[] { obb.xAxis, obb.yAxis, obb.zAxis };
Vector3f afEA = extent;
Vector3f afEB = obb.extent;
// compute difference of box centers, D = C1-C0
Vector3f kD = obb.center.subtract(center, _compVect1);
float[][] aafC = { fWdU, fAWdU, fDdU };
float[][] aafAbsC = { fADdU, fAWxDdU, tempFa };
float[] afAD = tempFb;
float fR0, fR1, fR; // interval radii and distance between centers
float fR01; // = R0 + R1
// axis C0+t*A0
for (i = 0; i < 3; i++) {
aafC[0][i] = akA[0].dot(akB[i]);
aafAbsC[0][i] = FastMath.abs(aafC[0][i]);
if (aafAbsC[0][i] > cutoff) {
parallelPairExists = true;
}
}
afAD[0] = akA[0].dot(kD);
fR = FastMath.abs(afAD[0]);
fR1 = afEB.x * aafAbsC[0][0] + afEB.y * aafAbsC[0][1] + afEB.z
* aafAbsC[0][2];
fR01 = afEA.x + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1
for (i = 0; i < 3; i++) {
aafC[1][i] = akA[1].dot(akB[i]);
aafAbsC[1][i] = FastMath.abs(aafC[1][i]);
if (aafAbsC[1][i] > cutoff) {
parallelPairExists = true;
}
}
afAD[1] = akA[1].dot(kD);
fR = FastMath.abs(afAD[1]);
fR1 = afEB.x * aafAbsC[1][0] + afEB.y * aafAbsC[1][1] + afEB.z
* aafAbsC[1][2];
fR01 = afEA.y + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2
for (i = 0; i < 3; i++) {
aafC[2][i] = akA[2].dot(akB[i]);
aafAbsC[2][i] = FastMath.abs(aafC[2][i]);
if (aafAbsC[2][i] > cutoff) {
parallelPairExists = true;
}
}
afAD[2] = akA[2].dot(kD);
fR = FastMath.abs(afAD[2]);
fR1 = afEB.x * aafAbsC[2][0] + afEB.y * aafAbsC[2][1] + afEB.z
* aafAbsC[2][2];
fR01 = afEA.z + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*B0
fR = FastMath.abs(akB[0].dot(kD));
fR0 = afEA.x * aafAbsC[0][0] + afEA.y * aafAbsC[1][0] + afEA.z
* aafAbsC[2][0];
fR01 = fR0 + afEB.x;
if (fR > fR01) {
return false;
}
// axis C0+t*B1
fR = FastMath.abs(akB[1].dot(kD));
fR0 = afEA.x * aafAbsC[0][1] + afEA.y * aafAbsC[1][1] + afEA.z
* aafAbsC[2][1];
fR01 = fR0 + afEB.y;
if (fR > fR01) {
return false;
}
// axis C0+t*B2
fR = FastMath.abs(akB[2].dot(kD));
fR0 = afEA.x * aafAbsC[0][2] + afEA.y * aafAbsC[1][2] + afEA.z
* aafAbsC[2][2];
fR01 = fR0 + afEB.z;
if (fR > fR01) {
return false;
}
// At least one pair of box axes was parallel, so the separation is
// effectively in 2D where checking the "edge" normals is sufficient for
// the separation of the boxes.
if (parallelPairExists) {
return true;
}
// axis C0+t*A0xB0
fR = FastMath.abs(afAD[2] * aafC[1][0] - afAD[1] * aafC[2][0]);
fR0 = afEA.y * aafAbsC[2][0] + afEA.z * aafAbsC[1][0];
fR1 = afEB.y * aafAbsC[0][2] + afEB.z * aafAbsC[0][1];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A0xB1
fR = FastMath.abs(afAD[2] * aafC[1][1] - afAD[1] * aafC[2][1]);
fR0 = afEA.y * aafAbsC[2][1] + afEA.z * aafAbsC[1][1];
fR1 = afEB.x * aafAbsC[0][2] + afEB.z * aafAbsC[0][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A0xB2
fR = FastMath.abs(afAD[2] * aafC[1][2] - afAD[1] * aafC[2][2]);
fR0 = afEA.y * aafAbsC[2][2] + afEA.z * aafAbsC[1][2];
fR1 = afEB.x * aafAbsC[0][1] + afEB.y * aafAbsC[0][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1xB0
fR = FastMath.abs(afAD[0] * aafC[2][0] - afAD[2] * aafC[0][0]);
fR0 = afEA.x * aafAbsC[2][0] + afEA.z * aafAbsC[0][0];
fR1 = afEB.y * aafAbsC[1][2] + afEB.z * aafAbsC[1][1];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1xB1
fR = FastMath.abs(afAD[0] * aafC[2][1] - afAD[2] * aafC[0][1]);
fR0 = afEA.x * aafAbsC[2][1] + afEA.z * aafAbsC[0][1];
fR1 = afEB.x * aafAbsC[1][2] + afEB.z * aafAbsC[1][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A1xB2
fR = FastMath.abs(afAD[0] * aafC[2][2] - afAD[2] * aafC[0][2]);
fR0 = afEA.x * aafAbsC[2][2] + afEA.z * aafAbsC[0][2];
fR1 = afEB.x * aafAbsC[1][1] + afEB.y * aafAbsC[1][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2xB0
fR = FastMath.abs(afAD[1] * aafC[0][0] - afAD[0] * aafC[1][0]);
fR0 = afEA.x * aafAbsC[1][0] + afEA.y * aafAbsC[0][0];
fR1 = afEB.y * aafAbsC[2][2] + afEB.z * aafAbsC[2][1];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2xB1
fR = FastMath.abs(afAD[1] * aafC[0][1] - afAD[0] * aafC[1][1]);
fR0 = afEA.x * aafAbsC[1][1] + afEA.y * aafAbsC[0][1];
fR1 = afEB.x * aafAbsC[2][2] + afEB.z * aafAbsC[2][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
// axis C0+t*A2xB2
fR = FastMath.abs(afAD[1] * aafC[0][2] - afAD[0] * aafC[1][2]);
fR0 = afEA.x * aafAbsC[1][2] + afEA.y * aafAbsC[0][2];
fR1 = afEB.x * aafAbsC[2][1] + afEB.y * aafAbsC[2][0];
fR01 = fR0 + fR1;
if (fR > fR01) {
return false;
}
return true;
}
public boolean intersectsCapsule(BoundingCapsule bc) {
return bc.intersectsOrientedBoundingBox(this);
}
/*
* (non-Javadoc)
*
* @see com.jme.bounding.BoundingVolume#intersects(com.jme.math.Ray)
*/
public boolean intersects(Ray ray) {
float rhs;
Vector3f diff = ray.origin.subtract(getCenter(_compVect2), _compVect1);
fWdU[0] = ray.getDirection().dot(xAxis);
fAWdU[0] = FastMath.abs(fWdU[0]);
fDdU[0] = diff.dot(xAxis);
fADdU[0] = FastMath.abs(fDdU[0]);
if (fADdU[0] > extent.x && fDdU[0] * fWdU[0] >= 0.0) {
return false;
}
fWdU[1] = ray.getDirection().dot(yAxis);
fAWdU[1] = FastMath.abs(fWdU[1]);
fDdU[1] = diff.dot(yAxis);
fADdU[1] = FastMath.abs(fDdU[1]);
if (fADdU[1] > extent.y && fDdU[1] * fWdU[1] >= 0.0) {
return false;
}
fWdU[2] = ray.getDirection().dot(zAxis);
fAWdU[2] = FastMath.abs(fWdU[2]);
fDdU[2] = diff.dot(zAxis);
fADdU[2] = FastMath.abs(fDdU[2]);
if (fADdU[2] > extent.z && fDdU[2] * fWdU[2] >= 0.0) {
return false;
}
Vector3f wCrossD = ray.getDirection().cross(diff, _compVect2);
fAWxDdU[0] = FastMath.abs(wCrossD.dot(xAxis));
rhs = extent.y * fAWdU[2] + extent.z * fAWdU[1];
if (fAWxDdU[0] > rhs) {
return false;
}
fAWxDdU[1] = FastMath.abs(wCrossD.dot(yAxis));
rhs = extent.x * fAWdU[2] + extent.z * fAWdU[0];
if (fAWxDdU[1] > rhs) {
return false;
}
fAWxDdU[2] = FastMath.abs(wCrossD.dot(zAxis));
rhs = extent.x * fAWdU[1] + extent.y * fAWdU[0];
if (fAWxDdU[2] > rhs) {
return false;
}
return true;
}
/**
* @see com.jme.bounding.BoundingVolume#intersectsWhere(com.jme.math.Ray)
*/
public IntersectionRecord intersectsWhere(Ray ray) {
Vector3f diff = _compVect1.set(ray.origin).subtractLocal(center);
// convert ray to box coordinates
Vector3f direction = _compVect2.set(ray.direction.x, ray.direction.y,
ray.direction.z);
float[] t = { 0f, Float.POSITIVE_INFINITY };
float saveT0 = t[0], saveT1 = t[1];
boolean notEntirelyClipped = clip(+direction.x, -diff.x - extent.x, t)
&& clip(-direction.x, +diff.x - extent.x, t)
&& clip(+direction.y, -diff.y - extent.y, t)
&& clip(-direction.y, +diff.y - extent.y, t)
&& clip(+direction.z, -diff.z - extent.z, t)
&& clip(-direction.z, +diff.z - extent.z, t);
if (notEntirelyClipped && (t[0] != saveT0 || t[1] != saveT1)) {
if (t[1] > t[0]) {
float[] distances = t;
Vector3f[] points = new Vector3f[] {
new Vector3f(ray.direction).multLocal(distances[0]).addLocal(ray.origin),
new Vector3f(ray.direction).multLocal(distances[1]).addLocal(ray.origin)
};
IntersectionRecord record = new IntersectionRecord(distances, points);
return record;
}
float[] distances = new float[] { t[0] };
Vector3f[] points = new Vector3f[] {
new Vector3f(ray.direction).multLocal(distances[0]).addLocal(ray.origin),
};
IntersectionRecord record = new IntersectionRecord(distances, points);
return record;
}
return new IntersectionRecord();
}
/**
* <code>clip</code> determines if a line segment intersects the current
* test plane.
*
* @param denom
* the denominator of the line segment.
* @param numer
* the numerator of the line segment.
* @param t
* test values of the plane.
* @return true if the line segment intersects the plane, false otherwise.
*/
private boolean clip(float denom, float numer, float[] t) {
// Return value is 'true' if line segment intersects the current test
// plane. Otherwise 'false' is returned in which case the line segment
// is entirely clipped.
if (denom > 0.0f) {
if (numer > denom * t[1])
return false;
if (numer > denom * t[0])
t[0] = numer / denom;
return true;
} else if (denom < 0.0f) {
if (numer > denom * t[0])
return false;
if (numer > denom * t[1])
t[1] = numer / denom;
return true;
} else {
return numer <= 0.0;
}
}
public void setXAxis(Vector3f axis) {
xAxis.set(axis);
correctCorners = false;
}
public void setYAxis(Vector3f axis) {
yAxis.set(axis);
correctCorners = false;
}
public void setZAxis(Vector3f axis) {
zAxis.set(axis);
correctCorners = false;
}
public void setExtent(Vector3f ext) {
extent.set(ext);
correctCorners = false;
}
public Vector3f getXAxis() {
return xAxis;
}
public Vector3f getYAxis() {
return yAxis;
}
public Vector3f getZAxis() {
return zAxis;
}
public Vector3f getExtent() {
return extent;
}
@Override
public boolean contains(Vector3f point) {
_compVect1.set(point).subtractLocal(center);
float coeff = _compVect1.dot(xAxis);
if (FastMath.abs(coeff) > extent.x) return false;
coeff = _compVect1.dot(yAxis);
if (FastMath.abs(coeff) > extent.y) return false;
coeff = _compVect1.dot(zAxis);
if (FastMath.abs(coeff) > extent.z) return false;
return true;
}
@Override
public float distanceToEdge(Vector3f point) {
// compute coordinates of point in box coordinate system
Vector3f diff = point.subtract(center);
Vector3f closest = new Vector3f(diff.dot(xAxis), diff.dot(yAxis), diff
.dot(zAxis));
// project test point onto box
float sqrDistance = 0.0f;
float delta;
if (closest.x < -extent.x) {
delta = closest.x + extent.x;
sqrDistance += delta * delta;
closest.x = -extent.x;
} else if (closest.x > extent.x) {
delta = closest.x - extent.x;
sqrDistance += delta * delta;
closest.x = extent.x;
}
if (closest.y < -extent.y) {
delta = closest.y + extent.y;
sqrDistance += delta * delta;
closest.y = -extent.y;
} else if (closest.y > extent.y) {
delta = closest.y - extent.y;
sqrDistance += delta * delta;
closest.y = extent.y;
}
if (closest.z < -extent.z) {
delta = closest.z + extent.z;
sqrDistance += delta * delta;
closest.z = -extent.z;
} else if (closest.z > extent.z) {
delta = closest.z - extent.z;
sqrDistance += delta * delta;
closest.z = extent.z;
}
return FastMath.sqrt(sqrDistance);
}
public void write(JMEExporter e) throws IOException {
super.write(e);
OutputCapsule capsule = e.getCapsule(this);
capsule.write(xAxis, "xAxis", Vector3f.UNIT_X);
capsule.write(yAxis, "yAxis", Vector3f.UNIT_Y);
capsule.write(zAxis, "zAxis", Vector3f.UNIT_Z);
capsule.write(extent, "extent", Vector3f.ZERO);
}
public void read(JMEImporter e) throws IOException {
super.read(e);
InputCapsule capsule = e.getCapsule(this);
xAxis.set((Vector3f) capsule.readSavable("xAxis", new Vector3f(Vector3f.UNIT_X)));
yAxis.set((Vector3f) capsule.readSavable("yAxis", new Vector3f(Vector3f.UNIT_Y)));
zAxis.set((Vector3f) capsule.readSavable("zAxis", new Vector3f(Vector3f.UNIT_Z)));
extent.set((Vector3f) capsule.readSavable("extent", new Vector3f(Vector3f.ZERO)));
correctCorners = false;
}
@Override
public float getVolume() {
return (8*extent.x*extent.y*extent.z);
}
}
