bool toxi::geom::AABB::intersectsSphere( const Vec3D & c, const float & r )
{
double s, d = 0;
// find the square of the distance
// from the sphere to the box
if (c.getX() < min.getX()) {
s = c.getX() - min.getX();
d = s * s;
} else if (c.getX() > max.getX()) {
s = c.getX() - max.getX();
d += s * s;
}
if (c.getY() < min.getY()) {
s = c.getY() - min.getY();
d += s * s;
} else if (c.getY() > max.getY()) {
s = c.getY() - max.getY();
d += s * s;
}
if (c.getZ() < min.getZ()) {
s = c.getZ() - min.getZ();
d += s * s;
} else if (c.getZ() > max.getZ()) {
s = c.getZ() - max.getZ();
d += s * s;
}
return d <= r * r;
}
toxi::geom::Matrix4x4 toxi::geom::Matrix4x4::lookAt( Vec3D & eye, Vec3D & target, Vec3D & up )
{
Vec3D f = eye.sub( target ).normalize();
Vec3D s = up.cross( f ).normalize();
Vec3D t = f.cross( s ).normalize();
return set( s.getX(), s.getY(), s.getZ(), -s.dot( eye ), t.getX(), t.getY(), t.getZ(), -t.dot( eye ), f.getX(),
f.getY(), f.getZ(), -f.dot( eye ), 0, 0, 0, 1 );
}
inline bool isAlone(Vec3D<int> p, int xDim, int yDim, int zDim, int ***strArr)
{
// x axis -- check neighbors
if(p.getX() + 1 < xDim){if(strArr[p.getX()+1][p.getY()][p.getZ()] == 1) return false;}
if(p.getX() - 1 >= 0) {if(strArr[p.getX()-1][p.getY()][p.getZ()] == 1) return false;}
// y axis -- check neighbors
if(p.getY() + 1 < yDim){if(strArr[p.getX()][p.getY()+1][p.getZ()] == 1) return false;}
if(p.getY() - 1 >= 0) {if(strArr[p.getX()][p.getY()-1][p.getZ()] == 1) return false;}
// z axis -- check neighbors
if(p.getZ() + 1 < zDim){if(strArr[p.getX()][p.getY()][p.getZ()+1] == 1) return false;}
if(p.getZ() - 1 >= 0) {if(strArr[p.getX()][p.getY()][p.getZ()-1] == 1) return false;}
return true;
}
bool toxi::geom::AABB::intersectsBox( AABB & box )
{
Vec3D t = box.sub(x, y, z);
return toxi::math::MathUtils::abs( t.getX() ) <= ( extent.getX() + box.extent.getX() )
&& toxi::math::MathUtils::abs( t.getY() ) <= ( extent.getZ() + box.extent.getY() )
&& toxi::math::MathUtils::abs( t.getY() ) <= ( extent.getY() + box.extent.getZ() );
}
toxi::geom::Vec3D toxi::geom::AABB::getNormalForPoint( Vec3D & p )
{
p = p.sub( Vec3D( x, y, z ) );
Vec3D pabs = extent.sub( p.getAbs() );
Vec3D psign = p.getSignum();
Vec3D normal = Vec3D::X_AXIS().scale( static_cast< float > ( psign.getX() ) );
double minDist = pabs.getX();
if (pabs.getY() < minDist) {
minDist = pabs.getY();
normal = Vec3D::Y_AXIS().scale( static_cast< float > ( psign.getY() ) );
}
if (pabs.getZ() < minDist) {
normal = Vec3D::Z_AXIS().scale( static_cast< float > ( psign.getZ() ) );
}
return normal;
}
toxi::geom::AABB::AABB( const Vec3D & point, const Vec3D & extend )
{
this->x = point.getX();
this->y = point.getY();
this->z = point.getZ();
setExtend( extend );
}
toxi::geom::Vec3D toxi::geom::Matrix4x4::applyToSelf( Vec3D & v )
{
for ( int i = 0; i < 4; i++ ) {
double* m = matrix[ i ];
temp[ i ] = v.getX() * m[ 0 ] + v.getY() * m[ 1 ] + v.getZ() * m[ 2 ] + m[ 3 ];
}
v.set( ( float ) temp[ 0 ], ( float ) temp[ 1 ], ( float ) temp[ 2 ] ).scaleSelf(
( float ) ( 1.0 / temp[ 3 ] ) );
return v;
}
toxi::geom::Vec3D toxi::geom::AABB::intersectsRay( toxi::geom::Ray3D & ray, const float & minDist, const float & maxDist )
{
Vec3D invDir = ray.getDirection().getReciprocal();
bool signDirX = invDir.getX() < 0;
bool signDirY = invDir.getY() < 0;
bool signDirZ = invDir.getZ() < 0;
Vec3D bbox = signDirX ? max : min;
double tmin = (bbox.getX() - ray.getX()) * invDir.getX();
bbox = signDirX ? min : max;
double tmax = (bbox.getX() - ray.getX()) * invDir.getX();
bbox = signDirY ? max : min;
double tymin = (bbox.getY() - ray.getY()) * invDir.getY();
bbox = signDirY ? min : max;
double tymax = (bbox.getY() - ray.getY()) * invDir.getY();
if ((tmin > tymax) || (tymin > tmax)) {
return Vec3D();
}
if (tymin > tmin) {
tmin = tymin;
}
if (tymax < tmax) {
tmax = tymax;
}
bbox = signDirZ ? max : min;
double tzmin = (bbox.getZ() - ray.getZ()) * invDir.getZ();
bbox = signDirZ ? min : max;
double tzmax = (bbox.getZ() - ray.getZ()) * invDir.getZ();
if ((tmin > tzmax) || (tzmin > tmax)) {
return Vec3D();
}
if (tzmin > tmin) {
tmin = tzmin;
}
if (tzmax < tmax) {
tmax = tzmax;
}
if ((tmin < maxDist) && (tmax > minDist)) {
return ray.getPointAtDistance( static_cast < float > ( tmin ) );
}
return Vec3D();
}
void Spline::displayline() {
glColor3f(0.7, 0.7, 0.0);
glPointSize(8.0);
glBegin(GL_POINTS);
int length = getNumKeyFrames() + 1;
for (int i = -1; i < length; ++i) {
Vec3D vec = getKeyPoint(i);
glVertex3f(vec.getX(), vec.getY(), vec.getZ());
}
glEnd();
glColor3f(1.0, 1.0, 1.0);
glBegin(GL_LINE_STRIP);
length = getNumKeyFrames() - 1;
for (float u = 0; u < length; u += 0.02) {
Vec3D v = getPoint(u);
//glColor3f(0.5 + sin(u * 2 * M_PI) / 2.0, 0.5 + cos(u * 2 * M_PI) / 2.0, 0);
glVertex3f(v.getX(), v.getY(), v.getZ());
}
glEnd();
}
bool toxi::geom::AABB::planeBoxOverlap( Vec3D & normal, const float & d, const Vec3D & maxBox )
{
Vec3D vmin = Vec3D();
Vec3D vmax = Vec3D();
if (normal.getX() > 0.0f) {
vmin.setX( -maxBox.getX() );
vmax.setX( maxBox.getX() );
} else {
vmin.setX( maxBox.getX() );
vmax.setX( -maxBox.getX() );
}
if (normal.getY() > 0.0f) {
vmin.setY( -maxBox.getY() );
vmax.setY( maxBox.getY() );
} else {
vmin.setY( maxBox.getY() );
vmax.setY( -maxBox.getY() );
}
if (normal.getZ() > 0.0f) {
vmin.setZ( -maxBox.getZ() );
vmax.setZ( maxBox.getZ() );
} else {
vmin.setZ( maxBox.getZ() );
vmax.setZ( -maxBox.getZ() );
}
if (normal.dot(vmin) + d > 0.0f) {
return false;
}
if (normal.dot(vmax) + d >= 0.0f) {
return true;
}
return false;
}
toxi::geom::Matrix4x4 toxi::geom::Matrix4x4::rotateAroundAxis( const Vec3D & axis, const double & theta )
{
double x, y, z, s, c, t, tx, ty;
x = axis.getX();
y = axis.getY();
z = axis.getZ();
s = toxi::math::MathUtils::sin( theta );
c = toxi::math::MathUtils::cos( theta );
t = 1 - c;
tx = t * x;
ty = t * y;
TEMP->set( tx * x + c, tx * y + s * z, tx * z - s * y, 0, tx * y - s * z,
ty * y + c, ty * z + s * x, 0, tx * z + s * y, ty * z - s * x,
t * z * z + c, 0, 0, 0, 0, 1 );
return this->multiplySelf( *TEMP );
}
toxi::geom::Matrix4x4 toxi::geom::Matrix4x4::translate( const Vec3D & v )
{
return Matrix4x4( *this ).translateSelf( v.getX(), v.getY(), v.getZ() );
}
toxi::geom::Matrix4x4 toxi::geom::Matrix4x4::scaleSelf( const Vec3D & scale )
{
return scaleSelf( scale.getX(), scale.getY(), scale.getZ() );
}
toxi::geom::Vec3D toxi::geom::Triangle3D::fromVarycentric( Vec3D & v )
{
return Vec3D( a.getX() * v.getX() + b.getX() * v.getY() + c.getX() * v.getZ(), a.getY() * v.getX()
+ b.getY() * v.getY() + c.getY() * v.getZ(), a.getZ() * v.getX() + b.getZ() * v.getY() + c.getZ()
* v.getZ() );
}
toxi::geom::Vec3D toxi::geom::AABB::add( const Vec3D & v )
{
return Vec3D( x + v.getX(), y + v.getY(), z + v.getZ() );
}