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+/*************************************************************************/
+/* rect3.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+#ifndef AABB_H
+#define AABB_H
+
+
+
+#include "vector3.h"
+#include "plane.h"
+#include "math_defs.h"
+
+/**
+ * AABB / AABB (Axis Aligned Bounding Box)
+ * This is implemented by a point (pos) and the box size
+ */
+
+
+
+class Rect3 {
+public:
+ Vector3 pos;
+ Vector3 size;
+
+ real_t get_area() const; /// get area
+ _FORCE_INLINE_ bool has_no_area() const {
+
+ return (size.x<=CMP_EPSILON || size.y<=CMP_EPSILON || size.z<=CMP_EPSILON);
+ }
+
+ _FORCE_INLINE_ bool has_no_surface() const {
+
+ return (size.x<=CMP_EPSILON && size.y<=CMP_EPSILON && size.z<=CMP_EPSILON);
+ }
+
+ const Vector3& get_pos() const { return pos; }
+ void set_pos(const Vector3& p_pos) { pos=p_pos; }
+ const Vector3& get_size() const { return size; }
+ void set_size(const Vector3& p_size) { size=p_size; }
+
+
+ bool operator==(const Rect3& p_rval) const;
+ bool operator!=(const Rect3& p_rval) const;
+
+ _FORCE_INLINE_ bool intersects(const Rect3& p_aabb) const; /// Both AABBs overlap
+ _FORCE_INLINE_ bool intersects_inclusive(const Rect3& p_aabb) const; /// Both AABBs (or their faces) overlap
+ _FORCE_INLINE_ bool encloses(const Rect3 & p_aabb) const; /// p_aabb is completely inside this
+
+ Rect3 merge(const Rect3& p_with) const;
+ void merge_with(const Rect3& p_aabb); ///merge with another AABB
+ Rect3 intersection(const Rect3& p_aabb) const; ///get box where two intersect, empty if no intersection occurs
+ bool intersects_segment(const Vector3& p_from, const Vector3& p_to,Vector3* r_clip=NULL,Vector3* r_normal=NULL) const;
+ bool intersects_ray(const Vector3& p_from, const Vector3& p_dir,Vector3* r_clip=NULL,Vector3* r_normal=NULL) const;
+ _FORCE_INLINE_ bool smits_intersect_ray(const Vector3 &from,const Vector3& p_dir, real_t t0, real_t t1) const;
+
+ _FORCE_INLINE_ bool intersects_convex_shape(const Plane *p_plane, int p_plane_count) const;
+ bool intersects_plane(const Plane &p_plane) const;
+
+ _FORCE_INLINE_ bool has_point(const Vector3& p_point) const;
+ _FORCE_INLINE_ Vector3 get_support(const Vector3& p_normal) const;
+
+
+ Vector3 get_longest_axis() const;
+ int get_longest_axis_index() const;
+ _FORCE_INLINE_ real_t get_longest_axis_size() const;
+
+ Vector3 get_shortest_axis() const;
+ int get_shortest_axis_index() const;
+ _FORCE_INLINE_ real_t get_shortest_axis_size() const;
+
+ Rect3 grow(real_t p_by) const;
+ _FORCE_INLINE_ void grow_by(real_t p_amount);
+
+ void get_edge(int p_edge,Vector3& r_from,Vector3& r_to) const;
+ _FORCE_INLINE_ Vector3 get_endpoint(int p_point) const;
+
+ Rect3 expand(const Vector3& p_vector) const;
+ _FORCE_INLINE_ void project_range_in_plane(const Plane& p_plane,real_t &r_min,real_t& r_max) const;
+ _FORCE_INLINE_ void expand_to(const Vector3& p_vector); /** expand to contain a point if necesary */
+
+ operator String() const;
+
+ _FORCE_INLINE_ Rect3() {}
+ inline Rect3(const Vector3 &p_pos,const Vector3& p_size) { pos=p_pos; size=p_size; }
+
+
+};
+
+inline bool Rect3::intersects(const Rect3& p_aabb) const {
+
+ if ( pos.x >= (p_aabb.pos.x + p_aabb.size.x) )
+ return false;
+ if ( (pos.x+size.x) <= p_aabb.pos.x )
+ return false;
+ if ( pos.y >= (p_aabb.pos.y + p_aabb.size.y) )
+ return false;
+ if ( (pos.y+size.y) <= p_aabb.pos.y )
+ return false;
+ if ( pos.z >= (p_aabb.pos.z + p_aabb.size.z) )
+ return false;
+ if ( (pos.z+size.z) <= p_aabb.pos.z )
+ return false;
+
+ return true;
+}
+
+inline bool Rect3::intersects_inclusive(const Rect3& p_aabb) const {
+
+ if ( pos.x > (p_aabb.pos.x + p_aabb.size.x) )
+ return false;
+ if ( (pos.x+size.x) < p_aabb.pos.x )
+ return false;
+ if ( pos.y > (p_aabb.pos.y + p_aabb.size.y) )
+ return false;
+ if ( (pos.y+size.y) < p_aabb.pos.y )
+ return false;
+ if ( pos.z > (p_aabb.pos.z + p_aabb.size.z) )
+ return false;
+ if ( (pos.z+size.z) < p_aabb.pos.z )
+ return false;
+
+ return true;
+}
+
+inline bool Rect3::encloses(const Rect3 & p_aabb) const {
+
+ Vector3 src_min=pos;
+ Vector3 src_max=pos+size;
+ Vector3 dst_min=p_aabb.pos;
+ Vector3 dst_max=p_aabb.pos+p_aabb.size;
+
+ return (
+ (src_min.x <= dst_min.x) &&
+ (src_max.x > dst_max.x) &&
+ (src_min.y <= dst_min.y) &&
+ (src_max.y > dst_max.y) &&
+ (src_min.z <= dst_min.z) &&
+ (src_max.z > dst_max.z) );
+
+}
+
+Vector3 Rect3::get_support(const Vector3& p_normal) const {
+
+ Vector3 half_extents = size * 0.5;
+ Vector3 ofs = pos + half_extents;
+
+ return Vector3(
+ (p_normal.x>0) ? -half_extents.x : half_extents.x,
+ (p_normal.y>0) ? -half_extents.y : half_extents.y,
+ (p_normal.z>0) ? -half_extents.z : half_extents.z
+ )+ofs;
+}
+
+
+Vector3 Rect3::get_endpoint(int p_point) const {
+
+ switch(p_point) {
+ case 0: return Vector3( pos.x , pos.y , pos.z );
+ case 1: return Vector3( pos.x , pos.y , pos.z+size.z );
+ case 2: return Vector3( pos.x , pos.y+size.y , pos.z );
+ case 3: return Vector3( pos.x , pos.y+size.y , pos.z+size.z );
+ case 4: return Vector3( pos.x+size.x , pos.y , pos.z );
+ case 5: return Vector3( pos.x+size.x , pos.y , pos.z+size.z );
+ case 6: return Vector3( pos.x+size.x , pos.y+size.y , pos.z );
+ case 7: return Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z );
+ };
+
+ ERR_FAIL_V(Vector3());
+}
+
+bool Rect3::intersects_convex_shape(const Plane *p_planes, int p_plane_count) const {
+
+#if 1
+
+ Vector3 half_extents = size * 0.5;
+ Vector3 ofs = pos + half_extents;
+
+ for(int i=0;i<p_plane_count;i++) {
+ const Plane &p=p_planes[i];
+ Vector3 point(
+ (p.normal.x>0) ? -half_extents.x : half_extents.x,
+ (p.normal.y>0) ? -half_extents.y : half_extents.y,
+ (p.normal.z>0) ? -half_extents.z : half_extents.z
+ );
+ point+=ofs;
+ if (p.is_point_over(point))
+ return false;
+ }
+
+ return true;
+#else
+ //cache all points to check against!
+// #warning should be easy to optimize, just use the same as when taking the support and use only that point
+ Vector3 points[8] = {
+ Vector3( pos.x , pos.y , pos.z ),
+ Vector3( pos.x , pos.y , pos.z+size.z ),
+ Vector3( pos.x , pos.y+size.y , pos.z ),
+ Vector3( pos.x , pos.y+size.y , pos.z+size.z ),
+ Vector3( pos.x+size.x , pos.y , pos.z ),
+ Vector3( pos.x+size.x , pos.y , pos.z+size.z ),
+ Vector3( pos.x+size.x , pos.y+size.y , pos.z ),
+ Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z ),
+ };
+
+ for (int i=0;i<p_plane_count;i++) { //for each plane
+
+ const Plane & plane=p_planes[i];
+ bool all_points_over=true;
+ //test if it has all points over!
+
+ for (int j=0;j<8;j++) {
+
+
+ if (!plane.is_point_over( points[j] )) {
+
+ all_points_over=false;
+ break;
+ }
+
+ }
+
+ if (all_points_over) {
+
+ return false;
+ }
+ }
+ return true;
+#endif
+}
+
+bool Rect3::has_point(const Vector3& p_point) const {
+
+ if (p_point.x<pos.x)
+ return false;
+ if (p_point.y<pos.y)
+ return false;
+ if (p_point.z<pos.z)
+ return false;
+ if (p_point.x>pos.x+size.x)
+ return false;
+ if (p_point.y>pos.y+size.y)
+ return false;
+ if (p_point.z>pos.z+size.z)
+ return false;
+
+ return true;
+}
+
+
+inline void Rect3::expand_to(const Vector3& p_vector) {
+
+ Vector3 begin=pos;
+ Vector3 end=pos+size;
+
+ if (p_vector.x<begin.x)
+ begin.x=p_vector.x;
+ if (p_vector.y<begin.y)
+ begin.y=p_vector.y;
+ if (p_vector.z<begin.z)
+ begin.z=p_vector.z;
+
+ if (p_vector.x>end.x)
+ end.x=p_vector.x;
+ if (p_vector.y>end.y)
+ end.y=p_vector.y;
+ if (p_vector.z>end.z)
+ end.z=p_vector.z;
+
+ pos=begin;
+ size=end-begin;
+}
+
+void Rect3::project_range_in_plane(const Plane& p_plane,real_t &r_min,real_t& r_max) const {
+
+ Vector3 half_extents( size.x * 0.5, size.y * 0.5, size.z * 0.5 );
+ Vector3 center( pos.x + half_extents.x, pos.y + half_extents.y, pos.z + half_extents.z );
+
+ real_t length = p_plane.normal.abs().dot(half_extents);
+ real_t distance = p_plane.distance_to( center );
+ r_min = distance - length;
+ r_max = distance + length;
+}
+
+inline real_t Rect3::get_longest_axis_size() const {
+
+ real_t max_size=size.x;
+
+ if (size.y > max_size ) {
+ max_size=size.y;
+ }
+
+ if (size.z > max_size ) {
+ max_size=size.z;
+ }
+
+ return max_size;
+}
+
+inline real_t Rect3::get_shortest_axis_size() const {
+
+ real_t max_size=size.x;
+
+ if (size.y < max_size ) {
+ max_size=size.y;
+ }
+
+ if (size.z < max_size ) {
+ max_size=size.z;
+ }
+
+ return max_size;
+}
+
+bool Rect3::smits_intersect_ray(const Vector3 &from,const Vector3& dir, real_t t0, real_t t1) const {
+
+ real_t divx=1.0/dir.x;
+ real_t divy=1.0/dir.y;
+ real_t divz=1.0/dir.z;
+
+ Vector3 upbound=pos+size;
+ real_t tmin, tmax, tymin, tymax, tzmin, tzmax;
+ if (dir.x >= 0) {
+ tmin = (pos.x - from.x) * divx;
+ tmax = (upbound.x - from.x) * divx;
+ }
+ else {
+ tmin = (upbound.x - from.x) * divx;
+ tmax = (pos.x - from.x) * divx;
+ }
+ if (dir.y >= 0) {
+ tymin = (pos.y - from.y) * divy;
+ tymax = (upbound.y - from.y) * divy;
+ }
+ else {
+ tymin = (upbound.y - from.y) * divy;
+ tymax = (pos.y - from.y) * divy;
+ }
+ if ( (tmin > tymax) || (tymin > tmax) )
+ return false;
+ if (tymin > tmin)
+ tmin = tymin;
+ if (tymax < tmax)
+ tmax = tymax;
+ if (dir.z >= 0) {
+ tzmin = (pos.z - from.z) * divz;
+ tzmax = (upbound.z - from.z) * divz;
+ }
+ else {
+ tzmin = (upbound.z - from.z) * divz;
+ tzmax = (pos.z - from.z) * divz;
+ }
+ if ( (tmin > tzmax) || (tzmin > tmax) )
+ return false;
+ if (tzmin > tmin)
+ tmin = tzmin;
+ if (tzmax < tmax)
+ tmax = tzmax;
+ return ( (tmin < t1) && (tmax > t0) );
+}
+
+void Rect3::grow_by(real_t p_amount) {
+
+ pos.x-=p_amount;
+ pos.y-=p_amount;
+ pos.z-=p_amount;
+ size.x+=2.0*p_amount;
+ size.y+=2.0*p_amount;
+ size.z+=2.0*p_amount;
+}
+
+
+#endif // AABB_H
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