/
bounding_box.cpp
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/
bounding_box.cpp
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#include "common/matd.h"
#include <math.h>
#include "bounding_box.h"
#include <stdio.h>
#include "arm_gui.h"
#include "vx/vx.h"
#include "vx/vxo_drawables.h"
BoundingBox::BoundingBox() {
double vec[3] = {0, 0, 0};
this->pos = matd_create_data(3, 1, vec);
vec[0] = 1;
this->ux = matd_create_data(3, 1, vec);
vec[0] = 0;
vec[1] = 1;
this->uy = matd_create_data(3, 1, vec);
vec[1] = 0;
vec[2] = 1;
this->uz = matd_create_data(3, 1, vec);
this->tx = 0;
this->ty = 0;
this->tz = 0;
}
BoundingBox::~BoundingBox() {
matd_destroy(this->pos);
matd_destroy(this->ux);
matd_destroy(this->uy);
matd_destroy(this->uz);
}
void BoundingBox::reset() {
this->setPosition(0, 0, 0);
this->setRotations(0, 0, 0);
}
void BoundingBox::setPosition(double x, double y, double z) {
matd_put(this->pos, 0, 0, x);
matd_put(this->pos, 1, 0, y);
matd_put(this->pos, 2, 0, z);
}
void BoundingBox::setPosition(matd_t *pos) {
matd_put(this->pos, 0, 0, matd_get(pos, 0, 0));
matd_put(this->pos, 1, 0, matd_get(pos, 1, 0));
matd_put(this->pos, 2, 0, matd_get(pos, 2, 0));
}
void BoundingBox::setRotations(double tx, double ty, double tz) {
this->tx = tx;
this->ty = ty;
this->tz = tz;
}
void BoundingBox::addRotations(double tx, double ty, double tz) {
this->tx += tx;
this->ty += ty;
this->tz += tz;
}
void BoundingBox::setDimensions(double w, double h, double d) {
this->hW = w / 2;
this->hH = h / 2;
this->hD = d / 2;
this->w = w;
this->h = h;
this->d = d;
}
void BoundingBox::setUnitVectors(matd_t *ux, matd_t *uy, matd_t *uz) {
matd_put(this->ux, 0, 0, matd_get(ux, 0, 0));
matd_put(this->ux, 1, 0, matd_get(ux, 1, 0));
matd_put(this->ux, 2, 0, matd_get(ux, 2, 0));
matd_put(this->uy, 0, 0, matd_get(uy, 0, 0));
matd_put(this->uy, 1, 0, matd_get(uy, 1, 0));
matd_put(this->uy, 2, 0, matd_get(uy, 2, 0));
matd_put(this->uz, 0, 0, matd_get(uz, 0, 0));
matd_put(this->uz, 1, 0, matd_get(uz, 1, 0));
matd_put(this->uz, 2, 0, matd_get(uz, 2, 0));
}
/*void BoundingBox::rotateUnitVectors(double tx, double ty, double tz) {
matd_t *temp;
double rotation_dataz[9] = {cos(tz), -sin(tz), 0, sin(tz), cos(tz), 0, 0, 0, 1};
matd_t *rot = matd_create_data(3, 3, rotation_dataz);
// Rotate X about Z
temp = this->ux;
this->ux = matd_multiply(rot, temp);
matd_destroy(temp);
// Rotate Y about Z
temp = this->uy;
this->uy = matd_multiply(rot, temp);
matd_destroy(temp);
//Rotate Z aboutZ
temp = this->uz;
this->uz = matd_multiply(rot, temp);
matd_destroy(temp);
matd_destroy(rot);
double rotation_datax[9] = {1, 0, 0, 0, cos(tx), -sin(tx), 0, sin(tx), cos(tx)};
rot = matd_create_data(3, 3, rotation_datax);
// Rotate X about X
temp = this->ux;
this->ux = matd_multiply(rot, temp);
matd_destroy(temp);
// Rotate Y about X
temp = this->uy;
this->uy = matd_multiply(rot, temp);
matd_destroy(temp);
//Rotate Z about X
temp = this->uz;
this->uz = matd_multiply(rot, temp);
matd_destroy(temp);
matd_destroy(rot);
double rotation_datay[9] = {1, 0, 0, 0, cos(tx), -sin(tx), 0, sin(tx), cos(tx)};
rot = matd_create_data(3, 3, rotation_datay);
// Rotate X about Y
temp = this->ux;
this->ux = matd_multiply(rot, temp);
matd_destroy(temp);
// Rotate Y about Y
temp = this->uy;
this->uy = matd_multiply(rot, temp);
matd_destroy(temp);
//Rotate Z about Y
temp = this->uz;
this->uz = matd_multiply(rot, temp);
matd_destroy(temp);
matd_destroy(rot);
}*/
bool BoundingBox::intersect(BoundingBox *b) {
double checkL, sum;
BoundingBox *a = this;
matd_t *cross;
matd_t *T = matd_subtract(b->pos, a->pos);
// Case 1
checkL = fabs(matd_vec_dot_product(T, a->ux));
sum = a->hW;
sum += fabs(b->hW*matd_vec_dot_product(a->ux, b->ux));
sum += fabs(b->hH*matd_vec_dot_product(a->ux, b->uy));
sum += fabs(b->hD*matd_vec_dot_product(a->ux, b->uz));
if (checkL > sum) {
//printf("Axis found, case 1\n");
return false;
}
//printf("1 - checkL %f, sum %f\n", checkL, sum);
// Case 2
checkL = fabs(matd_vec_dot_product(T, a->uy));
sum = a->hH;
sum += fabs(b->hW*matd_vec_dot_product(a->uy, b->ux));
sum += fabs(b->hH*matd_vec_dot_product(a->uy, b->uy));
sum += fabs(b->hD*matd_vec_dot_product(a->uy, b->uz));
if (checkL > sum) {
//printf("Axis found, case 2\n");
return false;
}
//printf("2 - checkL %f, sum %f\n", checkL, sum);
// Case 3
checkL = fabs(matd_vec_dot_product(T, a->uz));
sum = a->hD;
sum += fabs(b->hW*matd_vec_dot_product(a->uz, b->ux));
sum += fabs(b->hH*matd_vec_dot_product(a->uz, b->uy));
sum += fabs(b->hD*matd_vec_dot_product(a->uz, b->uz));
if (checkL > sum) {
//printf("Axis found, case 3\n");
return false;
}
//printf("3 - checkL %f, sum %f\n", checkL, sum);
// Case 4
checkL = fabs(matd_vec_dot_product(T, b->ux));
sum = fabs(a->hW*matd_vec_dot_product(a->ux, b->ux));
sum += fabs(a->hH*matd_vec_dot_product(a->uy, b->ux));
sum += fabs(a->hD*matd_vec_dot_product(a->uz, b->ux));
sum += b->hW;
if (checkL > sum) {
//printf("Axis found, case 4\n");
return false;
}
//printf("4 - checkL %f, sum %f\n", checkL, sum);
// Case 5
checkL = fabs(matd_vec_dot_product(T, b->uy));
sum = fabs(a->hW*matd_vec_dot_product(a->ux, b->uy));
sum += fabs(a->hH*matd_vec_dot_product(a->uy, b->uy));
sum += fabs(a->hD*matd_vec_dot_product(a->uz, b->uy));
sum += b->hH;
if (checkL > sum) {
//printf("Axis found, case 5\n");
return false;
}
//printf("5 - checkL %f, sum %f\n", checkL, sum);
// Case 6
checkL = fabs(matd_vec_dot_product(T, b->uz));
sum = fabs(a->hW*matd_vec_dot_product(a->ux, b->uz));
sum += fabs(a->hH*matd_vec_dot_product(a->uy, b->uz));
sum += fabs(a->hD*matd_vec_dot_product(a->uz, b->uz));
sum += b->hD;
if (checkL > sum) {
//printf("Axis found, case 6\n");
return false;
}
//printf("6 - checkL %f, sum %f\n", checkL, sum);
// Case 7
cross = matd_crossproduct(a->ux, b->ux);
checkL = fabs(matd_vec_dot_product(T, cross));
sum = fabs(a->hH*matd_vec_dot_product(a->uz, b->ux));
sum += fabs(a->hD*matd_vec_dot_product(a->uy, b->ux));
sum += fabs(b->hH*matd_vec_dot_product(a->ux, b->uz));
sum += fabs(b->hD*matd_vec_dot_product(a->ux, b->uy));
matd_destroy(cross);
if (checkL > sum) {
//printf("Axis found, case 7\n");
return false;
}
//printf("7 - checkL %f, sum %f\n", checkL, sum);
// Case 8
cross = matd_crossproduct(a->ux, b->uy);
checkL = fabs(matd_vec_dot_product(T, cross));
sum = fabs(a->hH*matd_vec_dot_product(a->uz, b->uy));
sum += fabs(a->hD*matd_vec_dot_product(a->uy, b->uy));
sum += fabs(b->hW*matd_vec_dot_product(a->ux, b->uz));
sum += fabs(b->hD*matd_vec_dot_product(a->ux, b->ux));
matd_destroy(cross);
if (checkL > sum) {
//printf("Axis found, case 8\n");
return false;
}
//printf("8 - checkL %f, sum %f\n", checkL, sum);
// Case 9
cross = matd_crossproduct(a->ux, b->uz);
checkL = fabs(matd_vec_dot_product(T, cross));
sum = fabs(a->hH*matd_vec_dot_product(a->uz, b->uz));
sum += fabs(a->hD*matd_vec_dot_product(a->uy, b->uz));
sum += fabs(b->hW*matd_vec_dot_product(a->ux, b->uy));
sum += fabs(b->hH*matd_vec_dot_product(a->ux, b->ux));
matd_destroy(cross);
if (checkL > sum) {
//printf("Axis found, case 9\n");
return false;
}
//printf("9 - checkL %f, sum %f\n", checkL, sum);
// Case 10
cross = matd_crossproduct(a->uy, b->ux);
checkL = fabs(matd_vec_dot_product(T, cross));
sum = fabs(a->hW*matd_vec_dot_product(a->uz, b->ux));
sum += fabs(a->hD*matd_vec_dot_product(a->ux, b->ux));
sum += fabs(b->hH*matd_vec_dot_product(a->uy, b->uz));
sum += fabs(b->hD*matd_vec_dot_product(a->uy, b->uy));
matd_destroy(cross);
if (checkL > sum) {
//printf("Axis found, case 10\n");
return false;
}
//printf("10 - checkL %f, sum %f\n", checkL, sum);
// Case 11
cross = matd_crossproduct(a->uy, b->uy);
checkL = fabs(matd_vec_dot_product(T, cross));
sum = fabs(a->hW*matd_vec_dot_product(a->uz, b->uy));
sum += fabs(a->hD*matd_vec_dot_product(a->ux, b->uy));
sum += fabs(b->hW*matd_vec_dot_product(a->uy, b->uz));
sum += fabs(b->hD*matd_vec_dot_product(a->uy, b->ux));
matd_destroy(cross);
if (checkL > sum) {
//printf("Axis found, case 11\n");
return false;
}
//printf("11 - checkL %f, sum %f\n", checkL, sum);
// Case 12
cross = matd_crossproduct(a->uy, b->uz);
checkL = fabs(matd_vec_dot_product(T, cross));
sum = fabs(a->hW*matd_vec_dot_product(a->uz, b->uz));
sum += fabs(a->hD*matd_vec_dot_product(a->ux, b->uz));
sum += fabs(b->hW*matd_vec_dot_product(a->uy, b->uy));
sum += fabs(b->hH*matd_vec_dot_product(a->uy, b->ux));
matd_destroy(cross);
if (checkL > sum) {
//printf("Axis found, case 12\n");
return false;
}
//printf("12 - checkL %f, sum %f\n", checkL, sum);
// Case 13
cross = matd_crossproduct(a->uz, b->ux);
checkL = fabs(matd_vec_dot_product(T, cross));
sum = fabs(a->hW*matd_vec_dot_product(a->uy, b->ux));
sum += fabs(a->hH*matd_vec_dot_product(a->ux, b->ux));
sum += fabs(b->hH*matd_vec_dot_product(a->uz, b->uz));
sum += fabs(b->hD*matd_vec_dot_product(a->uz, b->uy));
matd_destroy(cross);
if (checkL > sum) {
//printf("Axis found, case 13\n");
return false;
}
//printf("13 - checkL %f, sum %f\n", checkL, sum);
// Case 14
cross = matd_crossproduct(a->uz, b->uy);
checkL = fabs(matd_vec_dot_product(T, cross));
sum = fabs(a->hW*matd_vec_dot_product(a->uy, b->uy));
sum += fabs(a->hH*matd_vec_dot_product(a->ux, b->uy));
sum += fabs(b->hW*matd_vec_dot_product(a->uz, b->uz));
sum += fabs(b->hD*matd_vec_dot_product(a->uz, b->ux));
matd_destroy(cross);
if (checkL > sum) {
//printf("Axis found, case 14\n");
return false;
}
//printf("14 - checkL %f, sum %f\n", checkL, sum);
// Case 15
cross = matd_crossproduct(a->uz, b->uz);
checkL = fabs(matd_vec_dot_product(T, cross));
sum = fabs(a->hW*matd_vec_dot_product(a->uy, b->uz));
sum += fabs(a->hH*matd_vec_dot_product(a->ux, b->uz));
sum += fabs(b->hW*matd_vec_dot_product(a->uz, b->uy));
sum += fabs(b->hH*matd_vec_dot_product(a->uz, b->ux));
matd_destroy(cross);
if (checkL > sum) {
//printf("Axis found, case 15\n");
return false;
}
//printf("15 - checkL %f, sum %f\n", checkL, sum);
matd_destroy(T);
return true;
}
bool BoundingBox::pointWithinBox(double x, double y, double z) {
double bx = matd_get(this->pos, 0, 0);
double by = matd_get(this->pos, 1, 0);
double bz = matd_get(this->pos, 2, 0);
return (x >= bx - this->hW && x <= bx + this->hW
&& y >= by - this->hH && y <= by + this->hH
&& z >= bz - this->hD && z <= bz + this->hD);
}
void BoundingBox::draw(vx_buffer *buf, const float color[]) {
float translucentColor[4];
for (int i = 0; i < 3; i++) {
translucentColor[i] = color[i];
}
translucentColor[3] = 0.3f;
vx_object_t *box = vxo_chain(
// Base
vxo_mat_scale3(CM_TO_VX, CM_TO_VX, CM_TO_VX),
vxo_mat_translate3(this->getX(), this->getY(), this->getZ()),
vxo_mat_scale3(this->getW(), this->getH(), this->getD()),
vxo_box(vxo_mesh_style(translucentColor), vxo_lines_style(vx_black, 2.0f))
);
vx_buffer_add_back(buf, box);
}
double BoundingBox::getX() {
return matd_get(this->pos, 0, 0);
}
double BoundingBox::getY() {
return matd_get(this->pos, 1, 0);
}
double BoundingBox::getZ() {
return matd_get(this->pos, 2, 0);
}
double BoundingBox::getW() {
return this->w;
}
double BoundingBox::getH() {
return this->h;
}
double BoundingBox::getD() {
return this->d;
}
double BoundingBox::getHw() {
return this->hW;
}
double BoundingBox::getHh() {
return this->hH;
}
double BoundingBox::getHd() {
return this->hD;
}