OSG_BASE_DLLMAPPING
void extend(SphereVolume &srcVol, const CylinderVolume &vol)
{
Pnt3f min, max, min1, max1, min2, max2, c;
Real32 r;
if((!srcVol.isValid () && !srcVol.isEmpty()) ||
srcVol.isInfinite() ||
srcVol.isStatic () )
{
return;
}
if(!vol.isValid())
return;
if(srcVol.isEmpty())
{
if(vol.isEmpty())
{
return;
}
else
{
vol.getBounds(min, max);
vol.getCenter(c);
r = (min - c).length();
srcVol.setValue(c, r);
return;
}
}
else if(vol.isEmpty())
{
return;
}
srcVol.getBounds(min, max);
vol .getBounds(min1, max1);
min2 = Pnt3f(osgMin(min.x(), min1.x()),
osgMin(min.y(), min1.y()),
osgMin(min.z(), min1.z()));
max2 = Pnt3f(osgMax(max.x(), max1.x()),
osgMax(max.y(), max1.y()),
osgMax(max.z(), max1.z()));
c = Pnt3f((min2.x() + max2.x()) * 0.5f,
(min2.y() + max2.y()) * 0.5f,
(min2.z() + max2.z()) * 0.5f);
r = ((max2 - min2).length()) * 0.5f;
srcVol.setValue(c, r);
return;
}
OSG_BASE_DLLMAPPING
void extend(CylinderVolume &srcVol, const CylinderVolume &vol)
{
Pnt3f min, max, min1, max1, min2, max2, apos;
Vec2f p;
Vec3f adir;
Real32 r;
if((!srcVol.isValid () && !srcVol.isEmpty()) ||
srcVol.isInfinite() ||
srcVol.isStatic () )
{
return;
}
if(!vol.isValid())
return;
if(srcVol.isEmpty())
{
if(vol.isEmpty())
{
return;
}
else
{
srcVol = vol;
return;
}
}
else if(vol.isEmpty())
{
return;
}
srcVol.getBounds(min, max);
vol .getBounds(min1, max1);
min2 = Pnt3f(osgMin(min.x(), min1.x()),
osgMin(min.y(), min1.y()),
osgMin(min.z(), min1.z()));
max2 = Pnt3f(osgMax(max.x(), max1.x()),
osgMax(max.y(), max1.y()),
osgMax(max.z(), max1.z()));
p = Vec2f(max2.x() - min2.x(), max2.y() - min2.y());
r = (p.length()) * 0.5f;
adir = Vec3f(0.f, 0.f, max2.z() - min2.z());
apos = Pnt3f(p.x(), p.y(), min2.z());
srcVol.setValue(apos, adir, r);
return;
}
OSG_BASE_DLLMAPPING
bool intersect(const CylinderVolume &cyl1,
const CylinderVolume &cyl2)
{
Pnt3f p1, p2;
Vec3f v1, v2;
cyl1.getAxis(p1, v1);
cyl2.getAxis(p2, v2);
return dist3D_Segment_to_Segment(p1, v1, p2, v2) <=
(cyl1.getRadius() + cyl2.getRadius());
}
OSG_BASE_DLLMAPPING
void extend(BoxVolume &srcVol, const CylinderVolume &vol)
{
Pnt3f min, max;
if((!srcVol.isValid () && !srcVol.isEmpty()) ||
srcVol.isInfinite() ||
srcVol.isStatic () )
{
return;
}
if(!vol.isValid())
return;
if(srcVol.isEmpty())
{
if(vol.isEmpty())
{
return;
}
else
{
vol .getBounds(min, max);
srcVol.setBounds(min, max);
return;
}
}
else if(vol.isEmpty())
{
return;
}
vol.getBounds(min, max);
srcVol.setBounds(osgMin(min.x(), srcVol.getMin().x()),
osgMin(min.y(), srcVol.getMin().y()),
osgMin(min.z(), srcVol.getMin().z()),
osgMax(max.x(), srcVol.getMax().x()),
osgMax(max.y(), srcVol.getMax().y()),
osgMax(max.z(), srcVol.getMax().z()));
if(vol.isInfinite())
srcVol.setInfinite(true);
return;
}
OSG_BASE_DLLMAPPING
void extend(CylinderVolume &srcVol, const Volume &vol)
{
const Volume *v = &vol;
const CylinderVolume *cylinder;
#ifndef OSG_2_PREP
const DynamicVolume *dynamic = dynamic_cast<const DynamicVolume *>(v);
if(dynamic)
{
v = &(dynamic->getInstance());
}
#endif
if((cylinder = dynamic_cast<const CylinderVolume *>(v)) != NULL)
{
OSG::extend(srcVol, *cylinder);
}
else
{
CylinderVolume localCylinder;
Pnt3f min, max, apos;
Vec3f adir;
Real32 r;
Vec2f p;
v->getBounds(min, max);
p = Vec2f(max.x() - min.x(), max.y() - min.y());
r = (p.length()) * 0.5f;
adir = Vec3f(0.f, 0.f, max.z() - min.z());
apos = Pnt3f(p.x(), p.y(), min.z());
localCylinder.setValue(apos, adir, r);
OSG::extend(srcVol, localCylinder);
}
return;
}
OSG_BASE_DLLMAPPING
bool intersect(const CylinderVolume &cylinder, const FrustumVolume &frustum)
{
Pnt3f min, max;
cylinder.getBounds(min, max);
const Plane *frust = frustum.getPlanes();
// check each point of the box to the 6 planes
for(Int32 i = 0; i < 6; i++)
{
if(frust[i].isOutHalfSpace(min, max))
return false;
}
return true;
}
OSG_BASE_DLLMAPPING
bool intersect(const SphereVolume &sphere, const CylinderVolume &cylinder)
{
bool retCode;
Pnt3f apos;
Vec3f adir;
cylinder.getAxis(apos, adir);
if(sphere.isEmpty() || cylinder.isEmpty())
{
retCode = false;
}
else if(sphere.isInfinite() || cylinder.isInfinite())
{
retCode = true;
}
else
{
Real32 d = 0.f, s1 = 0.f, s2 = 0.f;
Pnt3f c;
Vec3f u, u1, u2;
//get the distance between the upper and lower point of the cylinder
// and the sphere center
s1 = (apos - sphere.getCenter()).length();
s2 = (apos + adir - sphere.getCenter()).length();
if ((s1<=DBL_EPSILON) || (s2<=DBL_EPSILON))
return true;
//check the smallest distance and set the vector coordinate
if(s1 <= s2)
{
d = s1;
c = apos;
}
else
{
d = s2;
c = apos + adir;
}
// decompose the vector in u1 and u2 which are parallel and
// perpendicular to the cylinder axis respectively
u = ((d - sphere.getRadius()) / d) * (c - sphere.getCenter());
u1 = (u[0] * adir[0] + u[1] * adir[1] + u[2] * adir[2]) /
(adir.length() * adir.length()) * adir;
u2 = u - u1;
if(u2.length() <= 10e-6)
{
retCode = (d <= sphere.getRadius());
}
else
{
retCode = (u2.length() <= cylinder.getRadius());
}
}
return retCode;
}
OSG_BASE_DLLMAPPING
bool intersect(const BoxVolume &box, const CylinderVolume &cylinder)
{
bool retCode;
Pnt3f apos;
Vec3f adir;
cylinder.getAxis(apos, adir);
if(box.isEmpty() == true || cylinder.isEmpty() == true)
{
retCode = false;
}
else if(box.isInfinite() == true || cylinder.isInfinite() == true)
{
retCode = true;
}
else
{
Real32 s1 = 0, s2 = 0, s3 = 0, s4 = 0, d = 0, d1 = 0, d2 = 0;
Pnt3f c, p, p1, p2;
Vec3f u, u1, u2;
// find the distance between the min and the max of the box
//with the lower point and the upper point of the cylinder respectively
s1 = (apos - box.getMin()).length();
s2 = (apos - box.getMax()).length();
s3 = (apos + adir - box.getMin()).length();
s4 = (apos + adir - box.getMax()).length();
//Check the minimum of the above distances
if(s1 <= s2)
{
d1 = s1;
p1 = box.getMin();
}
else
{
d1 = s2;
p1 = box.getMax();
}
if(s3 <= s4)
{
d2 = s3;
p2 = box.getMin();
}
else
{
d2 = s4;
p2 = box.getMax();
}
//set the value of the vector corresponding to the shortest distance
if(d1 <= d2)
{
d = d1;
c = apos;
p = p1;
}
else
{
d = d2;
c = apos + adir;
p = p2;
}
// decompose the vector in u1 and u2 which are parallel and
// perpendicular to the cylinder axis respectively
u = p - c;
u1 = (u[0] * adir[0] + u[1] * adir[1] + u[2] * adir[2]) /
(adir.length() * adir.length()) * adir;
u2 = u - u1;
if(u1.length() <= 10e-6)
{
retCode = true;
}
else if(u2.length() <= 10e-6)
{
retCode = (d <= 10e-6);
}
else
{
retCode = (u2.length() <= cylinder.getRadius());
}
}
return retCode;
}
int main (int argc, char **argv) {
Real32 ent, ex;
int i;
//Lines:
const int nlines = 10;
Line lines[nlines];
Pnt3f pnts[nlines * 2] = {
Pnt3f(0,0,0), Pnt3f(0,1,0),
Pnt3f(0,0,0), Pnt3f(2,1,0),
Pnt3f(2,0,0), Pnt3f(2,1,0),
Pnt3f(-2,0,0), Pnt3f(0,2,0),
Pnt3f(-4,2,0), Pnt3f(0,2,0),
Pnt3f(-3,0,0), Pnt3f(-2,1,0),
Pnt3f(3,4,0), Pnt3f(1,3,0),
Pnt3f(-1,0,0), Pnt3f(-1,1,0),
Pnt3f(-4,0,0), Pnt3f(-3,1,0),
Pnt3f(-4,6,0), Pnt3f(0,6,0)
};
for ( i = 0; i < nlines; i++ )
lines[i].setValue( pnts[i*2], pnts[i*2+1] );
BoxVolume b;
float xmin, ymin, zmin, xmax, ymax, zmax;
xmin = 0;
ymin = 0.5;
zmin = 0;
xmax = 1;
ymax = .5;
zmax = 1;
b.setBounds(xmin, ymin, zmin, xmax, ymax, zmax);
std::cout << std::endl;
b.dump();
std::cout << std::endl;
for ( i = 0 ; i < nlines; i++ )
{
std::cout << "Line: (" << lines[i].getPosition() << ") ("
<< lines[i].getDirection() << ")" << std::endl;
bool res = lines[i].intersect( b, ent, ex );
Pnt3f ep = lines[i].getPosition() + ent * lines[i].getDirection(),
xp = lines[i].getPosition() + ex * lines[i].getDirection();
std::cout << "Result: " << res;
if ( res )
{
std::cout << " enter " << ent << "=(" << ep << ") ";
bool es = ( b.isOnSurface( ep ) || b.intersect( ep ) ),
xs = b.isOnSurface( xp );
if ( ( res && es ) || !res ) std::cout << "ok";
else std::cout << "**BAD**";
std::cout << "; exit " << ex << "=(" << xp << ") ";
if ( ( res && xs ) || !res ) std::cout << "ok";
else std::cout << "**BAD**";
}
std::cout << std::endl;
}
return 0;
SphereVolume s;
float radius;
Vec3f center;
center[0] = 0;
center[1] = 0;
center[2] = 0;
radius = 1;
s.setCenter(center);
s.setRadius(radius);
std::cout << std::endl;
s.dump();
std::cout << std::endl;
for ( i = 0 ; i < nlines; i++ )
{
std::cout << "Line: (" << lines[i].getPosition() << ") ("
<< lines[i].getDirection() << ")" << std::endl;
bool res = lines[i].intersect( s, ent, ex );
Pnt3f ep = lines[i].getPosition() + ent * lines[i].getDirection(),
xp = lines[i].getPosition() + ex * lines[i].getDirection();
std::cout << "Result: " << res;
if ( res )
{
std::cout << " enter " << ent << "=(" << ep << ") ";
bool es = ( s.isOnSurface( ep ) || s.intersect( ep ) ),
xs = s.isOnSurface( xp );
if ( ( res && es ) || !res ) std::cout << "ok";
else std::cout << "**BAD**";
std::cout << "; exit " << ex << "=(" << xp << ") ";
if ( ( res && xs ) || !res ) std::cout << "ok";
else std::cout << "**BAD**";
}
std::cout << std::endl;
}
// Intersect the line with a cylinder.
Pnt3f p;
Vec3f d;
float rad;
p[0] = 0;
p[1] = 1;
p[2] = 0;
d[0] = 0;
d[1] = 4;
d[2] = 0;
rad = 2;
CylinderVolume c;
c.setValue(p, d, rad);
// c.setAxis(p, d);
// c.setRadius(rad);
std::cout << std::endl;
c.dump();
std::cout << std::endl;
for ( i = 0 ; i < nlines; i++ )
{
std::cout << "Line: (" << lines[i].getPosition() << ") ("
<< lines[i].getDirection() << ")" << std::endl;
bool res = lines[i].intersect( c, ent, ex );
Pnt3f ep = lines[i].getPosition() + ent * lines[i].getDirection(),
xp = lines[i].getPosition() + ex * lines[i].getDirection();
std::cout << "Result: " << res;
if ( res )
{
std::cout << " enter " << ent << "=(" << ep << ") ";
bool es = ( c.isOnSurface( ep ) || c.intersect( ep ) ),
xs = c.isOnSurface( xp );
if ( ( res && es ) || !res ) std::cout << "ok";
else std::cout << "**BAD**";
std::cout << "; exit " << ex << "=(" << xp << ") ";
if ( ( res && xs ) || !res ) std::cout << "ok";
else std::cout << "**BAD**";
}
std::cout << std::endl;
}
//### volume intersection ##############################################
std::cout << "### volume intersection test ###" << std::endl;
BoxVolume box(-1,-1,-1,1,1,1);
BoxVolume boxOut (5,5,5,10,10,10);
BoxVolume boxIn(-1,-1,-1,2,2,2);
SphereVolume sphere(Pnt3f(0,0,0),2);
SphereVolume sphereOut(Pnt3f(2,2,2),1);
SphereVolume sphereIn(Pnt3f(1,0,0),1);
CylinderVolume cylinder(Pnt3f(0,0,0),Vec3f(1,1,1),1);
CylinderVolume cylinderOut(Pnt3f(0,9,9),Vec3f(0,0,1),1);
CylinderVolume cylinderIn(Pnt3f(1,0,0),Vec3f(0,1,0),1);
// Frustum defined by normal vector and distance
Plane pnear(Vec3f(0,0,-1),2);
Plane pfar(Vec3f(0,0,1),7);
Plane pright(Vec3f(-0.7071,0,-0.7071),0);
Plane pleft(Vec3f(0.7071,0,-0.7071),0);
Plane ptop(Vec3f(0,-0.7071,-0.7071),0);
Plane pbottom(Vec3f(0,0.7071,-0.7071),0);
FrustumVolume frustum(pnear, pfar, pleft, pright, ptop, pbottom);
//Frustum defined by a clipMatrix
Matrix matrix;
matrix.setValue(0.7071,0,0,0,
0,0.7071,0,0,
0,0,-1.27,-3.959,
0,0,-0.7071,0);
FrustumVolume frustum1;
frustum1.setPlanes(matrix);
// Frustum defined by 8 points
Pnt3f nlt(-2,2,-2);
Pnt3f nlb(-2,-2,-2);
Pnt3f nrt(2,2,-2);
Pnt3f nrb(2,-2,-2);
Pnt3f flt(-7,7,-7);
Pnt3f flb(-7,-7,-7);
Pnt3f frt(7,7,-7);
Pnt3f frb(7,-7,-7);
FrustumVolume frustum2;
frustum2.setPlanes(nlt, nlb, nrt, nrb, flt, flb, frt, frb);
//Tests
std::cout << "Box/box outside test: " << std::flush;
std::cout << (box.intersect(boxOut) ? "**BAD**" : "ok") << std::endl;
std::cout << "Box/box inside test: " << std::flush;
std::cout << (box.intersect(boxIn) ? "ok" : "**BAD**") << std::endl;
std::cout << "Box/sphere outside test: " << std::flush;
std::cout << (box.intersect(sphereOut) ? "**BAD**" : "ok") << std::endl;
std::cout << "Box/sphere inside test: " << std::flush;
std::cout << (box.intersect(sphereIn) ? "ok" : "**BAD**")<< std::endl;
std::cout << "Sphere/sphere outside test: " << std::flush;
std::cout << (sphere.intersect(sphereOut) ? "**BAD**" : "ok") << std::endl;
std::cout << "Sphere/sphere inside test: " << std::flush;
std::cout << (sphere.intersect(sphereIn) ? "ok" : "**BAD**") << std::endl;
std::cout << "Box/cylinder outside test: " << std::flush;
std::cout << (box.intersect(cylinderOut) ? "**BAD**" : "ok") << std::endl;
std::cout << "Box/cylinder inside test: " << std::flush;
std::cout << (box.intersect(cylinderIn) ? "ok" : "**BAD**") << std::endl;
std::cout << "Sphere/cylinder outside test: " << std::flush;
std::cout << (sphere.intersect(cylinderOut) ? "**BAD**" : "ok") << std::endl;
std::cout << "Sphere/cylinder inside test: " << std::flush;
std::cout << (sphere.intersect(cylinderIn) ? "ok" : " **BAD**") << std::endl;
std::cout << "Cylinder/cylinder outside test: "<<std::flush;
std::cout << (cylinder.intersect(cylinderOut) ? "**BAD**" : "ok")<<std::endl;
std::cout << "Cylinder/cylinder inside test: "<<std::flush;
std::cout << (cylinder.intersect(cylinderIn) ? "ok" : " **BAD** ")<<std::endl;
std::cout << "Box/Frustum outside test : " << std::flush;
std::cout << (boxOut.intersect(frustum) ? "**BAD**" : "ok") << std::endl;
std::cout << "Box/Frustum inside test : " << std::flush;
std::cout << (boxIn.intersect(frustum) ? "ok" : "**BAD**") << std::endl;
std::cout << "Sphere/Frustum outside test : " << std::flush;
std::cout << (sphereOut.intersect(frustum) ? "**BAD**" : "ok") << std::endl;
std::cout << "Sphere/Frustum inside test : " << std::flush;
std::cout << (sphereIn.intersect(frustum) ? "ok" : "**BAD**") << std::endl;
std::cout << "Cylinder/Frustum outside test : " << std::flush;
std::cout << (cylinderOut.intersect(frustum) ? "**BAD**" : "ok") << std::endl;
std::cout << "Cylinder/Frustum inside test : " << std::flush;
std::cout << (cylinderIn.intersect(frustum) ? "ok" : "**BAD**") << std::endl;
std::cout << "Cylinder/Sphere outside test: " << std::flush;
std::cout << (cylinderOut.intersect(sphere) ? "**BAD**" : "ok") << std::endl;
//###VOLUME EXTENSION################################################
std::cout << "### volume extension test ###" << std::endl;
Pnt3f min,max;
//Box extension
extend(box, boxIn);
box.getBounds(min,max);
std::cout<< "min of the box : " <<min<<std::endl;
std::cout<< "max of the box : " <<max<<std::endl;
extend(box,sphere);
box.getBounds(min,max);
std::cout<< "min of the box : " <<min<<std::endl;
std::cout<< "max of the box : " <<max<<std::endl;
extend(box,cylinder);
box.getBounds(min,max);
std::cout<< "min of the box : " <<min<<std::endl;
std::cout<< "max of the box : " <<max<<std::endl;
//Sphere extension
extend(sphere, box);
std::cout<<"Center of the sphere : " <<sphere.getCenter()<<std::endl;
std::cout<<"Radius of the sphere : " <<sphere.getRadius()<<std::endl;
extend(sphere, sphereOut);
std::cout<<"Center of the sphere : " <<sphere.getCenter()<<std::endl;
std::cout<<"Radius of the sphere : " <<sphere.getRadius()<<std::endl;
extend(sphere, cylinder);
std::cout<<"Center of the sphere : " <<sphere.getCenter()<<std::endl;
std::cout<<"Radius of the sphere : " <<sphere.getRadius()<<std::endl;
//Cylinder extension
extend (cylinder, box);
cylinder.getBounds(min,max);
std::cout<< "min of the cylinder : " <<min<<std::endl;
std::cout<< "max of the cylinder : " <<max<<std::endl;
extend (cylinder, sphere);
cylinder.getBounds(min,max);
std::cout<< "min of the cylinder : " <<min<<std::endl;
std::cout<< "max of the cylinder : " <<max<<std::endl;
extend (cylinder, cylinder);
cylinder.getBounds(min,max);
std::cout<< "min of the cylinder : " <<min<<std::endl;
std::cout<< "max of the cylinder : " <<max<<std::endl;
return 0;
}
bool Line::intersect(const CylinderVolume &cyl,
Real &enter,
Real &exit ) const
{
Real radius = cyl.getRadius();
Vec3r adir;
Vec3r o_adir;
Pnt3r apos;
cyl.getAxis(apos, adir);
o_adir = adir;
adir.normalize();
bool isect;
Real ln;
Real dl;
Vec3r RC;
Vec3r n;
Vec3r D;
RC = _pos - apos;
n = _dir.cross (adir);
ln = n .length( );
if(ln == 0.f) // IntersectionLine is parallel to CylinderAxis
{
D = RC - (RC.dot(adir)) * adir;
dl = D.length();
if(dl <= radius) // line lies in cylinder
{
enter = 0.f;
exit = Inf;
}
else
{
return false;
}
}
else
{
n.normalize();
dl = osgAbs(RC.dot(n)); //shortest distance
isect = (dl <= radius);
if(isect)
{ // if ray hits cylinder
Real t;
Real s;
Vec3r O;
O = RC.cross(adir);
t = - (O.dot(n)) / ln;
O = n.cross(adir);
O.normalize();
s = osgAbs (
(osgSqrt ((radius * radius) - (dl * dl))) / (_dir.dot(O)));
exit = t + s;
if(exit < 0.f)
return false;
enter = t - s;
if(enter < 0.f)
enter = 0.f;
}
else
{
return false;
}
}
Real t;
Plane bottom(-adir, apos);
if(bottom.intersect(*this, t))
{
if(bottom.isInHalfSpace(_pos))
{
if(t > enter)
enter = t;
}
else
{
if(t < exit)
exit = t;
}
}
else
{
if(bottom.isInHalfSpace(_pos))
return false;
}
Plane top(adir, apos + o_adir);
if(top.intersect(*this, t))
{
if(top.isInHalfSpace(_pos))
{
if(t > enter)
enter = t;
}
else
{
if(t < exit)
exit = t;
}
}
else
{
if(top.isInHalfSpace(_pos))
return false;
}
return (enter < exit);
}
