org.ode4j.ode.DAABB Maven / Gradle / Ivy
/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: [email protected] Web: www.q12.org *
* Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke *
* All rights reserved. Email: [email protected] Web: www.ode4j.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more *
* details. *
* *
*************************************************************************/
package org.ode4j.ode;
import org.ode4j.math.DVector3;
import org.ode4j.math.DVector3C;
/**
* Convenience class for operations on AABB (Axis-aligned bounding boxes).
*
* Axes are numbered from 0 to 2.
* @see DAABBC
*
* @author Tilmann Zaeschke
*/
public class DAABB implements DAABBC {
private final DVector3 _min = new DVector3();
private final DVector3 _max = new DVector3();
public DAABB() {}
public DAABB(double min0, double max0, double min1, double max1, double min2, double max2) {
_min.set(min0, min1, min2);
_max.set(max0, max1, max2);
}
/**
* Set the minimum and maximum values to -infinity and
* infinity.
*/
public void setToInfinity() {
setMinMax(OdeConstants.dInfinity, OdeConstants.dInfinity,
OdeConstants.dInfinity);
}
/**
* Set the minimum and maximum values to -+ the given parameters.
* @param mm0 min/max 0
* @param mm1 min/max 1
* @param mm2 min/max 2
*/
public void setMinMax(double mm0, double mm1, double mm2) {
//set(-mm0, mm0, -mm1, mm1, -mm2, mm2);
_min.set(-mm0, -mm1, -mm2);
_max.set(mm0, mm1, mm2);
}
/**
* Move this AABB by pos.
* @param pos pos
*/
public void shiftPos(DVector3C pos) {
_min.add(pos);
_max.add(pos);
}
@Override
public double len0() {
return getMax0() - getMin0();
}
@Override
public double len1() {
return getMax1() - getMin1();
}
@Override
public double len2() {
return getMax2() - getMin2();
}
public double avg0() {
return 0.5 * (getMax0() + getMin0());
}
public double avg1() {
return 0.5 * (getMax1() + getMin1());
}
public double avg2() {
return 0.5 * (getMax2() + getMin2());
}
/**
*
* @return false is any of the values is NaN.
*/
@Override
public boolean isValid() {
return !Double.isNaN(getMin0()) && !Double.isNaN(getMax0()) &&
!Double.isNaN(getMin1()) && !Double.isNaN(getMax1()) &&
!Double.isNaN(getMin2()) && !Double.isNaN(getMax2());
}
/**
* Checks whether the to AABBs are disjoint.
* @param aabb2 aabb2
* @return false if the two AABBs overlap.
*/
@Override
public boolean isDisjoint(DAABBC aabb2) {
return getMin0() > aabb2.getMax0() ||
getMax0() < aabb2.getMin0() ||
getMin1() > aabb2.getMax1() ||
getMax1() < aabb2.getMin1() ||
getMin2() > aabb2.getMax2() ||
getMax2() < aabb2.getMin2();
}
/**
* Determines the AABB from a box defined by the two vectors.
* @param v1 v1
* @param v2 v2
*/
public void setMinMax(DVector3C v1, DVector3C v2) {
if (v1.get0() < v2.get0()) {
setMin0( v1.get0() );
setMax0( v2.get0() );
} else {
setMin0( v2.get0() );
setMax0( v1.get0() );
}
if (v1.get1() < v2.get1()) {
setMin1( v1.get1() );
setMax1( v2.get1() );
} else {
setMin1( v2.get1() );
setMax1( v1.get1() );
}
if (v1.get2() < v2.get2()) {
setMin2( v1.get2() );
setMax2( v2.get2() );
} else {
setMin2( v2.get2() );
setMax2( v1.get2() );
}
}
public void setMin0(double d) {
_min.set0(d);
}
public void setMin1(double d) {
_min.set1(d);
}
public void setMin2(double d) {
_min.set2(d);
}
public void setMax0(double d) {
_max.set0(d);
}
public void setMax1(double d) {
_max.set1(d);
}
public void setMax2(double d) {
_max.set2(d);
}
/**
* get[0].
* @return min[0]
*/
@Override
public double getMin0() {
return _min.get0();
}
/**
* get[2].
* @return min[1]
*/
@Override
public double getMin1() {
return _min.get1();
}
/**
* get[4].
* @return min[2]
*/
@Override
public double getMin2() {
return _min.get2();
}
/**
* get[1].
* @return max[0]
*/
@Override
public double getMax0() {
return _max.get0();
}
/**
* get[3].
* @return max[1]
*/
@Override
public double getMax1() {
return _max.get1();
}
/**
* get[5].
* @return max[2]
*/
@Override
public double getMax2() {
return _max.get2();
}
@Override
public double getMax(int i) {
return _max.get(i);
}
@Override
public double getMin(int i) {
return _min.get(i);
}
@Override
public DVector3 getLengths() {
return new DVector3(len0(), len1(), len2());
}
@Override
public DVector3 getCenter() {
return new DVector3(avg0(), avg1(), avg2());
}
public void set(DAABBC aabb) {
setMin0(aabb.getMin0());
setMin1(aabb.getMin1());
setMin2(aabb.getMin2());
setMax0(aabb.getMax0());
setMax1(aabb.getMax1());
setMax2(aabb.getMax2());
}
public void set(double min0, double max0, double min1,
double max1, double min2, double max2) {
_min.set(min0, min1, min2);
_max.set(max0, max1, max2);
}
public void setZero() {
_min.setZero();
_max.setZero();
}
public void setMin(DVector3C min) {
_min.set(min);
}
public void setMax(DVector3C max) {
_max.set(max);
}
/**
* Expand this AABB to include the given point.
* @param point point
*/
public void expand(DVector3C point) {
if (point.get0() < _min.get0()) _min.set0(point.get0());
if (point.get1() < _min.get1()) _min.set1(point.get1());
if (point.get2() < _min.get2()) _min.set2(point.get2());
if (point.get0() > _max.get0()) _max.set0(point.get0());
if (point.get1() > _max.get1()) _max.set1(point.get1());
if (point.get2() > _max.get2()) _max.set2(point.get2());
}
/**
* Expand this AABB to include the given AABB.
* @param aabb aabb
*/
public void expand(DAABBC aabb) {
if (aabb.getMin0() < _min.get0()) _min.set0(aabb.getMin0());
if (aabb.getMin1() < _min.get1()) _min.set1(aabb.getMin1());
if (aabb.getMin2() < _min.get2()) _min.set2(aabb.getMin2());
if (aabb.getMax0() > _max.get0()) _max.set0(aabb.getMax0());
if (aabb.getMax1() > _max.get1()) _max.set1(aabb.getMax1());
if (aabb.getMax2() > _max.get2()) _max.set2(aabb.getMax2());
}
@Override
public String toString() {
return "DAABB min=" + _min + " / max=" + _max;
}
}