/*
============
idBox::AddPoint
============
*/
bool idBox::AddPoint( const idVec3& v )
{
idMat3 axis2;
idBounds bounds1, bounds2;
if( extents[0] < 0.0f )
{
extents.Zero();
center = v;
axis.Identity();
return true;
}
bounds1[0][0] = bounds1[1][0] = center * axis[0];
bounds1[0][1] = bounds1[1][1] = center * axis[1];
bounds1[0][2] = bounds1[1][2] = center * axis[2];
bounds1[0] -= extents;
bounds1[1] += extents;
if( !bounds1.AddPoint( idVec3( v * axis[0], v * axis[1], v * axis[2] ) ) )
{
// point is contained in the box
return false;
}
axis2[0] = v - center;
axis2[0].Normalize();
axis2[1] = axis[ Min3Index( axis2[0] * axis[0], axis2[0] * axis[1], axis2[0] * axis[2] ) ];
axis2[1] = axis2[1] - ( axis2[1] * axis2[0] ) * axis2[0];
axis2[1].Normalize();
axis2[2].Cross( axis2[0], axis2[1] );
AxisProjection( axis2, bounds2 );
bounds2.AddPoint( idVec3( v * axis2[0], v * axis2[1], v * axis2[2] ) );
// create new box based on the smallest bounds
if( bounds1.GetVolume() < bounds2.GetVolume() )
{
center = ( bounds1[0] + bounds1[1] ) * 0.5f;
extents = bounds1[1] - center;
center *= axis;
}
else
{
center = ( bounds2[0] + bounds2[1] ) * 0.5f;
extents = bounds2[1] - center;
center *= axis2;
axis = axis2;
}
return true;
}
/*
============
idBox::AddBox
============
*/
bool idBox::AddBox( const idBox &a ) {
int i, besti;
float v, bestv;
idVec3 dir;
idMat3 ax[4];
idBounds bounds[4], b;
if ( a.extents[0] < 0.0f ) {
return false;
}
if ( extents[0] < 0.0f ) {
center = a.center;
extents = a.extents;
axis = a.axis;
return true;
}
// test axis of this box
ax[0] = axis;
bounds[0][0][0] = bounds[0][1][0] = center * ax[0][0];
bounds[0][0][1] = bounds[0][1][1] = center * ax[0][1];
bounds[0][0][2] = bounds[0][1][2] = center * ax[0][2];
bounds[0][0] -= extents;
bounds[0][1] += extents;
a.AxisProjection( ax[0], b );
if ( !bounds[0].AddBounds( b ) ) {
// the other box is contained in this box
return false;
}
// test axis of other box
ax[1] = a.axis;
bounds[1][0][0] = bounds[1][1][0] = a.center * ax[1][0];
bounds[1][0][1] = bounds[1][1][1] = a.center * ax[1][1];
bounds[1][0][2] = bounds[1][1][2] = a.center * ax[1][2];
bounds[1][0] -= a.extents;
bounds[1][1] += a.extents;
AxisProjection( ax[1], b );
if ( !bounds[1].AddBounds( b ) ) {
// this box is contained in the other box
center = a.center;
extents = a.extents;
axis = a.axis;
return true;
}
// test axes aligned with the vector between the box centers and one of the box axis
dir = a.center - center;
dir.Normalize();
for ( i = 2; i < 4; i++ ) {
ax[i][0] = dir;
ax[i][1] = ax[i-2][ Min3Index( dir * ax[i-2][0], dir * ax[i-2][1], dir * ax[i-2][2] ) ];
ax[i][1] = ax[i][1] - ( ax[i][1] * dir ) * dir;
ax[i][1].Normalize();
ax[i][2].Cross( dir, ax[i][1] );
AxisProjection( ax[i], bounds[i] );
a.AxisProjection( ax[i], b );
bounds[i].AddBounds( b );
}
// get the bounds with the smallest volume
bestv = idMath::INFINITY;
besti = 0;
for ( i = 0; i < 4; i++ ) {
v = bounds[i].GetVolume();
if ( v < bestv ) {
bestv = v;
besti = i;
}
}
// create a box from the smallest bounds axis pair
center = ( bounds[besti][0] + bounds[besti][1] ) * 0.5f;
extents = bounds[besti][1] - center;
center *= ax[besti];
axis = ax[besti];
return false;
}
