/src/ogre/OgreMain/include/OgreAxisAlignedBox.h

Source
/*
-----------------------------------------------------------------------------
This source file is part of OGRE
(Object-oriented Graphics Rendering Engine)
For the latest info, see http://www.ogre3d.org/

Copyright (c) 2000-2014 Torus Knot Software Ltd

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
-----------------------------------------------------------------------------
*/
#ifndef __AxisAlignedBox_H_
#define __AxisAlignedBox_H_

#include <array>

// Precompiler options
#include "OgrePrerequisites.h"

#include "OgreMatrix4.h"

namespace Ogre {
    /** \addtogroup Core
    *  @{
    */
    /** \addtogroup Math
    *  @{
    */

    /** A 3D box aligned with the x/y/z axes.

    This class represents a simple box which is aligned with the
    axes. Internally it only stores 2 points as the extremeties of
    the box, one which is the minima of all 3 axes, and the other
    which is the maxima of all 3 axes. This class is typically used
    for an axis-aligned bounding box (AABB) for collision and
    visibility determination.
    */
    class _OgreExport AxisAlignedBox
    {
    public:
        enum Extent
        {
            EXTENT_NULL,
            EXTENT_FINITE,
            EXTENT_INFINITE
        };
    private:

        Vector3 mMinimum;
        Vector3 mMaximum;
        Extent mExtent;

    public:
        /*
           1-------2
          /|      /|
         / |     / |
        5-------4  |
        |  0----|--3
        | /     | /
        |/      |/
        6-------7
        */
        enum CornerEnum {
            FAR_LEFT_BOTTOM = 0,
            FAR_LEFT_TOP = 1,
            FAR_RIGHT_TOP = 2,
            FAR_RIGHT_BOTTOM = 3,
            NEAR_RIGHT_BOTTOM = 7,
            NEAR_LEFT_BOTTOM = 6,
            NEAR_LEFT_TOP = 5,
            NEAR_RIGHT_TOP = 4
        };
        typedef std::array<Vector3, 8> Corners;

        AxisAlignedBox()
        {
            // Default to a null box 
            setMinimum( -0.5, -0.5, -0.5 );
            setMaximum( 0.5, 0.5, 0.5 );
            mExtent = EXTENT_NULL;
        }
        AxisAlignedBox(Extent e)
        {
            setMinimum( -0.5, -0.5, -0.5 );
            setMaximum( 0.5, 0.5, 0.5 );
            mExtent = e;
        }

        AxisAlignedBox( const Vector3& min, const Vector3& max )
        {
            setExtents( min, max );
        }

        AxisAlignedBox(Real mx, Real my, Real mz, Real Mx, Real My, Real Mz)
        {
            setExtents( mx, my, mz, Mx, My, Mz );
        }

        /** Gets the minimum corner of the box.
        */
        inline const Vector3& getMinimum(void) const
        { 
            return mMinimum; 
        }

        /** Gets a modifiable version of the minimum
        corner of the box.
        */
        inline Vector3& getMinimum(void)
        { 
            return mMinimum; 
        }

        /** Gets the maximum corner of the box.
        */
        inline const Vector3& getMaximum(void) const
        { 
            return mMaximum;
        }

        /** Gets a modifiable version of the maximum
        corner of the box.
        */
        inline Vector3& getMaximum(void)
        { 
            return mMaximum;
        }


        /** Sets the minimum corner of the box.
        */
        inline void setMinimum( const Vector3& vec )
        {
            mExtent = EXTENT_FINITE;
            mMinimum = vec;
        }

        inline void setMinimum( Real x, Real y, Real z )
        {
            mExtent = EXTENT_FINITE;
            mMinimum.x = x;
            mMinimum.y = y;
            mMinimum.z = z;
        }

        /** Changes one of the components of the minimum corner of the box
        used to resize only one dimension of the box
        */
        inline void setMinimumX(Real x)
        {
            mMinimum.x = x;
        }

        inline void setMinimumY(Real y)
        {
            mMinimum.y = y;
        }

        inline void setMinimumZ(Real z)
        {
            mMinimum.z = z;
        }

        /** Sets the maximum corner of the box.
        */
        inline void setMaximum( const Vector3& vec )
        {
            mExtent = EXTENT_FINITE;
            mMaximum = vec;
        }

        inline void setMaximum( Real x, Real y, Real z )
        {
            mExtent = EXTENT_FINITE;
            mMaximum.x = x;
            mMaximum.y = y;
            mMaximum.z = z;
        }

        /** Changes one of the components of the maximum corner of the box
        used to resize only one dimension of the box
        */
        inline void setMaximumX( Real x )
        {
            mMaximum.x = x;
        }

        inline void setMaximumY( Real y )
        {
            mMaximum.y = y;
        }

        inline void setMaximumZ( Real z )
        {
            mMaximum.z = z;
        }

        /** Sets both minimum and maximum extents at once.
        */
        inline void setExtents( const Vector3& min, const Vector3& max )
        {
            assert( (min.x <= max.x && min.y <= max.y && min.z <= max.z) &&
                "The minimum corner of the box must be less than or equal to maximum corner" );

            mExtent = EXTENT_FINITE;
            mMinimum = min;
            mMaximum = max;
        }

        inline void setExtents(
            Real mx, Real my, Real mz,
            Real Mx, Real My, Real Mz )
        {
            assert( (mx <= Mx && my <= My && mz <= Mz) &&
                "The minimum corner of the box must be less than or equal to maximum corner" );

            mExtent = EXTENT_FINITE;

            mMinimum.x = mx;
            mMinimum.y = my;
            mMinimum.z = mz;

            mMaximum.x = Mx;
            mMaximum.y = My;
            mMaximum.z = Mz;

        }

        /** Returns a pointer to an array of 8 corner points, useful for
        collision vs. non-aligned objects.

        If the order of these corners is important, they are as
        follows: The 4 points of the minimum Z face (note that
        because Ogre uses right-handed coordinates, the minimum Z is
        at the 'back' of the box) starting with the minimum point of
        all, then anticlockwise around this face (if you are looking
        onto the face from outside the box). Then the 4 points of the
        maximum Z face, starting with maximum point of all, then
        anticlockwise around this face (looking onto the face from
        outside the box). Like this:
        <pre>
           1-------2
          /|      /|
         / |     / |
        5-------4  |
        |  0----|--3
        | /     | /
        |/      |/
        6-------7
        </pre>
        */
        inline Corners getAllCorners(void) const
        {
            assert( (mExtent == EXTENT_FINITE) && "Can't get corners of a null or infinite AAB" );

            // The order of these items is, using right-handed coordinates:
            // Minimum Z face, starting with Min(all), then anticlockwise
            //   around face (looking onto the face)
            // Maximum Z face, starting with Max(all), then anticlockwise
            //   around face (looking onto the face)
            // Only for optimization/compatibility.
            Corners corners;

            corners[0] = getCorner(FAR_LEFT_BOTTOM);
            corners[1] = getCorner(FAR_LEFT_TOP);
            corners[2] = getCorner(FAR_RIGHT_TOP);
            corners[3] = getCorner(FAR_RIGHT_BOTTOM);

            corners[4] = getCorner(NEAR_RIGHT_TOP);
            corners[5] = getCorner(NEAR_LEFT_TOP);
            corners[6] = getCorner(NEAR_LEFT_BOTTOM);
            corners[7] = getCorner(NEAR_RIGHT_BOTTOM);

            return corners;
        }

        /** Gets the position of one of the corners
        */
        Vector3 getCorner(CornerEnum cornerToGet) const
        {
            switch(cornerToGet)
            {
            case FAR_LEFT_BOTTOM:
                return mMinimum;
            case FAR_LEFT_TOP:
                return Vector3(mMinimum.x, mMaximum.y, mMinimum.z);
            case FAR_RIGHT_TOP:
                return Vector3(mMaximum.x, mMaximum.y, mMinimum.z);
            case FAR_RIGHT_BOTTOM:
                return Vector3(mMaximum.x, mMinimum.y, mMinimum.z);
            case NEAR_RIGHT_BOTTOM:
                return Vector3(mMaximum.x, mMinimum.y, mMaximum.z);
            case NEAR_LEFT_BOTTOM:
                return Vector3(mMinimum.x, mMinimum.y, mMaximum.z);
            case NEAR_LEFT_TOP:
                return Vector3(mMinimum.x, mMaximum.y, mMaximum.z);
            case NEAR_RIGHT_TOP:
                return mMaximum;
            default:
                return Vector3();
            }
        }

        /** Merges the passed in box into the current box. The result is the
        box which encompasses both.
        */
        void merge( const AxisAlignedBox& rhs )
        {
            // Do nothing if rhs null, or this is infinite
            if ((rhs.mExtent == EXTENT_NULL) || (mExtent == EXTENT_INFINITE))
            {
                return;
            }
            // Otherwise if rhs is infinite, make this infinite, too
            else if (rhs.mExtent == EXTENT_INFINITE)
            {
                mExtent = EXTENT_INFINITE;
            }
            // Otherwise if current null, just take rhs
            else if (mExtent == EXTENT_NULL)
            {
                setExtents(rhs.mMinimum, rhs.mMaximum);
            }
            // Otherwise merge
            else
            {
                Vector3 min = mMinimum;
                Vector3 max = mMaximum;
                max.makeCeil(rhs.mMaximum);
                min.makeFloor(rhs.mMinimum);

                setExtents(min, max);
            }

        }

        /** Extends the box to encompass the specified point (if needed).
        */
        inline void merge( const Vector3& point )
        {
            switch (mExtent)
            {
            case EXTENT_NULL: // if null, use this point
                setExtents(point, point);
                return;

            case EXTENT_FINITE:
                mMaximum.makeCeil(point);
                mMinimum.makeFloor(point);
                return;

            case EXTENT_INFINITE: // if infinite, makes no difference
                return;
            }

            assert( false && "Never reached" );
        }

        /** Transforms the box according to the matrix supplied.

        By calling this method you get the axis-aligned box which
        surrounds the transformed version of this box. Therefore each
        corner of the box is transformed by the matrix, then the
        extents are mapped back onto the axes to produce another
        AABB. Useful when you have a local AABB for an object which
        is then transformed.
        */
        inline void transform( const Matrix4& matrix )
        {
            // Do nothing if current null or infinite
            if( mExtent != EXTENT_FINITE )
                return;

            Vector3 oldMin, oldMax, currentCorner;

            // Getting the old values so that we can use the existing merge method.
            oldMin = mMinimum;
            oldMax = mMaximum;

            // reset
            setNull();

            // We sequentially compute the corners in the following order :
            // 0, 6, 5, 1, 2, 4 ,7 , 3
            // This sequence allows us to only change one member at a time to get at all corners.

            // For each one, we transform it using the matrix
            // Which gives the resulting point and merge the resulting point.

            // First corner 
            // min min min
            currentCorner = oldMin;
            merge( matrix * currentCorner );

            // min,min,max
            currentCorner.z = oldMax.z;
            merge( matrix * currentCorner );

            // min max max
            currentCorner.y = oldMax.y;
            merge( matrix * currentCorner );

            // min max min
            currentCorner.z = oldMin.z;
            merge( matrix * currentCorner );

            // max max min
            currentCorner.x = oldMax.x;
            merge( matrix * currentCorner );

            // max max max
            currentCorner.z = oldMax.z;
            merge( matrix * currentCorner );

            // max min max
            currentCorner.y = oldMin.y;
            merge( matrix * currentCorner );

            // max min min
            currentCorner.z = oldMin.z;
            merge( matrix * currentCorner ); 
        }

        /** Transforms the box according to the affine matrix supplied.

        By calling this method you get the axis-aligned box which
        surrounds the transformed version of this box. Therefore each
        corner of the box is transformed by the matrix, then the
        extents are mapped back onto the axes to produce another
        AABB. Useful when you have a local AABB for an object which
        is then transformed.
        */
        void transform(const Affine3& m)
        {
            // Do nothing if current null or infinite
            if ( mExtent != EXTENT_FINITE )
                return;

            Vector3 centre = getCenter();
            Vector3 halfSize = getHalfSize();

            Vector3 newCentre = m * centre;
            Vector3 newHalfSize(
                Math::Abs(m[0][0]) * halfSize.x + Math::Abs(m[0][1]) * halfSize.y + Math::Abs(m[0][2]) * halfSize.z, 
                Math::Abs(m[1][0]) * halfSize.x + Math::Abs(m[1][1]) * halfSize.y + Math::Abs(m[1][2]) * halfSize.z,
                Math::Abs(m[2][0]) * halfSize.x + Math::Abs(m[2][1]) * halfSize.y + Math::Abs(m[2][2]) * halfSize.z);

            setExtents(newCentre - newHalfSize, newCentre + newHalfSize);
        }

        /** Sets the box to a 'null' value i.e. not a box.
        */
        inline void setNull()
        {
            mExtent = EXTENT_NULL;
        }

        /** Returns true if the box is null i.e. empty.
        */
        inline bool isNull(void) const
        {
            return (mExtent == EXTENT_NULL);
        }

        /** Returns true if the box is finite.
        */
        bool isFinite(void) const
        {
            return (mExtent == EXTENT_FINITE);
        }

        /** Sets the box to 'infinite'
        */
        inline void setInfinite()
        {
            mExtent = EXTENT_INFINITE;
        }

        /** Returns true if the box is infinite.
        */
        bool isInfinite(void) const
        {
            return (mExtent == EXTENT_INFINITE);
        }

        /** Returns whether or not this box intersects another. */
        inline bool intersects(const AxisAlignedBox& b2) const
        {
            // Early-fail for nulls
            if (this->isNull() || b2.isNull())
                return false;

            // Early-success for infinites
            if (this->isInfinite() || b2.isInfinite())
                return true;

            // Use up to 6 separating planes
            if (mMaximum.x < b2.mMinimum.x)
                return false;
            if (mMaximum.y < b2.mMinimum.y)
                return false;
            if (mMaximum.z < b2.mMinimum.z)
                return false;

            if (mMinimum.x > b2.mMaximum.x)
                return false;
            if (mMinimum.y > b2.mMaximum.y)
                return false;
            if (mMinimum.z > b2.mMaximum.z)
                return false;

            // otherwise, must be intersecting
            return true;

        }

        /// Calculate the area of intersection of this box and another
        inline AxisAlignedBox intersection(const AxisAlignedBox& b2) const
        {
            if (this->isNull() || b2.isNull())
            {
                return AxisAlignedBox();
            }
            else if (this->isInfinite())
            {
                return b2;
            }
            else if (b2.isInfinite())
            {
                return *this;
            }

            Vector3 intMin = mMinimum;
            Vector3 intMax = mMaximum;

            intMin.makeCeil(b2.getMinimum());
            intMax.makeFloor(b2.getMaximum());

            // Check intersection isn't null
            if (intMin.x < intMax.x &&
                intMin.y < intMax.y &&
                intMin.z < intMax.z)
            {
                return AxisAlignedBox(intMin, intMax);
            }

            return AxisAlignedBox();
        }

        /// Calculate the volume of this box
        Real volume(void) const
        {
            switch (mExtent)
            {
            case EXTENT_NULL:
                return 0.0f;

            case EXTENT_FINITE:
                {
                    Vector3 diff = mMaximum - mMinimum;
                    return diff.x * diff.y * diff.z;
                }

            case EXTENT_INFINITE:
                return Math::POS_INFINITY;

            default: // shut up compiler
                assert( false && "Never reached" );
                return 0.0f;
            }
        }

        /** Scales the AABB by the vector given. */
        inline void scale(const Vector3& s)
        {
            // Do nothing if current null or infinite
            if (mExtent != EXTENT_FINITE)
                return;

            // NB assumes centered on origin
            Vector3 min = mMinimum * s;
            Vector3 max = mMaximum * s;
            setExtents(min, max);
        }

        /** Tests whether this box intersects a sphere. */
        bool intersects(const Sphere& s) const
        {
            return Math::intersects(s, *this); 
        }
        /** Tests whether this box intersects a plane. */
        bool intersects(const Plane& p) const
        {
            return Math::intersects(p, *this);
        }
        /** Tests whether the vector point is within this box. */
        bool intersects(const Vector3& v) const
        {
            switch (mExtent)
            {
            case EXTENT_NULL:
                return false;

            case EXTENT_FINITE:
                return(v.x >= mMinimum.x  &&  v.x <= mMaximum.x  && 
                    v.y >= mMinimum.y  &&  v.y <= mMaximum.y  && 
                    v.z >= mMinimum.z  &&  v.z <= mMaximum.z);

            case EXTENT_INFINITE:
                return true;

            default: // shut up compiler
                assert( false && "Never reached" );
                return false;
            }
        }
        /// Gets the centre of the box
        Vector3 getCenter(void) const
        {
            assert( (mExtent == EXTENT_FINITE) && "Can't get center of a null or infinite AAB" );

            return Vector3(
                (mMaximum.x + mMinimum.x) * 0.5f,
                (mMaximum.y + mMinimum.y) * 0.5f,
                (mMaximum.z + mMinimum.z) * 0.5f);
        }
        /// Gets the size of the box
        Vector3 getSize(void) const
        {
            switch (mExtent)
            {
            case EXTENT_NULL:
                return Vector3::ZERO;

            case EXTENT_FINITE:
                return mMaximum - mMinimum;

            case EXTENT_INFINITE:
                return Vector3(
                    Math::POS_INFINITY,
                    Math::POS_INFINITY,
                    Math::POS_INFINITY);

            default: // shut up compiler
                assert( false && "Never reached" );
                return Vector3::ZERO;
            }
        }
        /// Gets the half-size of the box
        Vector3 getHalfSize(void) const
        {
            switch (mExtent)
            {
            case EXTENT_NULL:
                return Vector3::ZERO;

            case EXTENT_FINITE:
                return (mMaximum - mMinimum) * 0.5;

            case EXTENT_INFINITE:
                return Vector3(
                    Math::POS_INFINITY,
                    Math::POS_INFINITY,
                    Math::POS_INFINITY);

            default: // shut up compiler
                assert( false && "Never reached" );
                return Vector3::ZERO;
            }
        }

        /** Tests whether the given point contained by this box.
        */
        bool contains(const Vector3& v) const
        {
            if (isNull())
                return false;
            if (isInfinite())
                return true;

            return mMinimum.x <= v.x && v.x <= mMaximum.x &&
                   mMinimum.y <= v.y && v.y <= mMaximum.y &&
                   mMinimum.z <= v.z && v.z <= mMaximum.z;
        }
        
        /** Returns the squared minimum distance between a given point and any part of the box.
         *  This is faster than distance since avoiding a squareroot, so use if you can. */
        Real squaredDistance(const Vector3& v) const
        {

            if (this->contains(v))
                return 0;
            else
            {
                Vector3 maxDist(0,0,0);

                if (v.x < mMinimum.x)
                    maxDist.x = mMinimum.x - v.x;
                else if (v.x > mMaximum.x)
                    maxDist.x = v.x - mMaximum.x;

                if (v.y < mMinimum.y)
                    maxDist.y = mMinimum.y - v.y;
                else if (v.y > mMaximum.y)
                    maxDist.y = v.y - mMaximum.y;

                if (v.z < mMinimum.z)
                    maxDist.z = mMinimum.z - v.z;
                else if (v.z > mMaximum.z)
                    maxDist.z = v.z - mMaximum.z;

                return maxDist.squaredLength();
            }
        }
        
        /** Returns the minimum distance between a given point and any part of the box. */
        Real distance (const Vector3& v) const
        {
            return Ogre::Math::Sqrt(squaredDistance(v));
        }

        /** Tests whether another box contained by this box.
        */
        bool contains(const AxisAlignedBox& other) const
        {
            if (other.isNull() || this->isInfinite())
                return true;

            if (this->isNull() || other.isInfinite())
                return false;

            return this->mMinimum.x <= other.mMinimum.x &&
                   this->mMinimum.y <= other.mMinimum.y &&
                   this->mMinimum.z <= other.mMinimum.z &&
                   other.mMaximum.x <= this->mMaximum.x &&
                   other.mMaximum.y <= this->mMaximum.y &&
                   other.mMaximum.z <= this->mMaximum.z;
        }

        /** Tests 2 boxes for equality.
        */
        bool operator== (const AxisAlignedBox& rhs) const
        {
            if (this->mExtent != rhs.mExtent)
                return false;

            if (!this->isFinite())
                return true;

            return this->mMinimum == rhs.mMinimum &&
                   this->mMaximum == rhs.mMaximum;
        }

        /** Tests 2 boxes for inequality.
        */
        bool operator!= (const AxisAlignedBox& rhs) const
        {
            return !(*this == rhs);
        }

        // special values
        static const AxisAlignedBox BOX_NULL;
        static const AxisAlignedBox BOX_INFINITE;


    };

    _OgreExport std::ostream& operator<<(std::ostream& o, const AxisAlignedBox& aab);

    /** @} */
    /** @} */
} // namespace Ogre

#endif

Coverage Report

Created: 2026-08-31 06:42

Line	Count	Source
1		/*
2		-----------------------------------------------------------------------------
3		This source file is part of OGRE
4		(Object-oriented Graphics Rendering Engine)
5		For the latest info, see http://www.ogre3d.org/
6
7		Copyright (c) 2000-2014 Torus Knot Software Ltd
8
9		Permission is hereby granted, free of charge, to any person obtaining a copy
10		of this software and associated documentation files (the "Software"), to deal
11		in the Software without restriction, including without limitation the rights
12		to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13		copies of the Software, and to permit persons to whom the Software is
14		furnished to do so, subject to the following conditions:
15
16		The above copyright notice and this permission notice shall be included in
17		all copies or substantial portions of the Software.
18
19		THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20		IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21		FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22		AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23		LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24		OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25		THE SOFTWARE.
26		-----------------------------------------------------------------------------
27		*/
28		#ifndef __AxisAlignedBox_H_
29		#define __AxisAlignedBox_H_
30
31		#include <array>
32
33		// Precompiler options
34		#include "OgrePrerequisites.h"
35
36		#include "OgreMatrix4.h"
37
38		namespace Ogre {
39		/** \addtogroup Core
40		* @{
41		*/
42		/** \addtogroup Math
43		* @{
44		*/
45
46		/** A 3D box aligned with the x/y/z axes.
47
48		This class represents a simple box which is aligned with the
49		axes. Internally it only stores 2 points as the extremeties of
50		the box, one which is the minima of all 3 axes, and the other
51		which is the maxima of all 3 axes. This class is typically used
52		for an axis-aligned bounding box (AABB) for collision and
53		visibility determination.
54		*/
55		class _OgreExport AxisAlignedBox
56		{
57		public:
58		enum Extent
59		{
60		EXTENT_NULL,
61		EXTENT_FINITE,
62		EXTENT_INFINITE
63		};
64		private:
65
66		Vector3 mMinimum;
67		Vector3 mMaximum;
68		Extent mExtent;
69
70		public:
71		/*
72		1-------2
73		/\| /\|
74		/ \| / \|
75		5-------4 \|
76		\| 0----\|--3
77		\| / \| /
78		\|/ \|/
79		6-------7
80		*/
81		enum CornerEnum {
82		FAR_LEFT_BOTTOM = 0,
83		FAR_LEFT_TOP = 1,
84		FAR_RIGHT_TOP = 2,
85		FAR_RIGHT_BOTTOM = 3,
86		NEAR_RIGHT_BOTTOM = 7,
87		NEAR_LEFT_BOTTOM = 6,
88		NEAR_LEFT_TOP = 5,
89		NEAR_RIGHT_TOP = 4
90		};
91		typedef std::array<Vector3, 8> Corners;
92
93		AxisAlignedBox()
94	0	{
95	0	// Default to a null box
96	0	setMinimum( -0.5, -0.5, -0.5 );
97	0	setMaximum( 0.5, 0.5, 0.5 );
98	0	mExtent = EXTENT_NULL;
99	0	}
100		AxisAlignedBox(Extent e)
101	0	{
102	0	setMinimum( -0.5, -0.5, -0.5 );
103	0	setMaximum( 0.5, 0.5, 0.5 );
104	0	mExtent = e;
105	0	}
106
107		AxisAlignedBox( const Vector3& min, const Vector3& max )
108	0	{
109	0	setExtents( min, max );
110	0	}
111
112		AxisAlignedBox(Real mx, Real my, Real mz, Real Mx, Real My, Real Mz)
113	0	{
114	0	setExtents( mx, my, mz, Mx, My, Mz );
115	0	}
116
117		/** Gets the minimum corner of the box.
118		*/
119		inline const Vector3& getMinimum(void) const
120	0	{
121	0	return mMinimum;
122	0	}
123
124		/** Gets a modifiable version of the minimum
125		corner of the box.
126		*/
127		inline Vector3& getMinimum(void)
128	0	{
129	0	return mMinimum;
130	0	}
131
132		/** Gets the maximum corner of the box.
133		*/
134		inline const Vector3& getMaximum(void) const
135	0	{
136	0	return mMaximum;
137	0	}
138
139		/** Gets a modifiable version of the maximum
140		corner of the box.
141		*/
142		inline Vector3& getMaximum(void)
143	0	{
144	0	return mMaximum;
145	0	}
146
147
148		/** Sets the minimum corner of the box.
149		*/
150		inline void setMinimum( const Vector3& vec )
151	0	{
152	0	mExtent = EXTENT_FINITE;
153	0	mMinimum = vec;
154	0	}
155
156		inline void setMinimum( Real x, Real y, Real z )
157	0	{
158	0	mExtent = EXTENT_FINITE;
159	0	mMinimum.x = x;
160	0	mMinimum.y = y;
161	0	mMinimum.z = z;
162	0	}
163
164		/** Changes one of the components of the minimum corner of the box
165		used to resize only one dimension of the box
166		*/
167		inline void setMinimumX(Real x)
168	0	{
169	0	mMinimum.x = x;
170	0	}
171
172		inline void setMinimumY(Real y)
173	0	{
174	0	mMinimum.y = y;
175	0	}
176
177		inline void setMinimumZ(Real z)
178	0	{
179	0	mMinimum.z = z;
180	0	}
181
182		/** Sets the maximum corner of the box.
183		*/
184		inline void setMaximum( const Vector3& vec )
185	0	{
186	0	mExtent = EXTENT_FINITE;
187	0	mMaximum = vec;
188	0	}
189
190		inline void setMaximum( Real x, Real y, Real z )
191	0	{
192	0	mExtent = EXTENT_FINITE;
193	0	mMaximum.x = x;
194	0	mMaximum.y = y;
195	0	mMaximum.z = z;
196	0	}
197
198		/** Changes one of the components of the maximum corner of the box
199		used to resize only one dimension of the box
200		*/
201		inline void setMaximumX( Real x )
202	0	{
203	0	mMaximum.x = x;
204	0	}
205
206		inline void setMaximumY( Real y )
207	0	{
208	0	mMaximum.y = y;
209	0	}
210
211		inline void setMaximumZ( Real z )
212	0	{
213	0	mMaximum.z = z;
214	0	}
215
216		/** Sets both minimum and maximum extents at once.
217		*/
218		inline void setExtents( const Vector3& min, const Vector3& max )
219	0	{
220	0	assert( (min.x <= max.x && min.y <= max.y && min.z <= max.z) &&
221	0	"The minimum corner of the box must be less than or equal to maximum corner" );
222	0
223	0	mExtent = EXTENT_FINITE;
224	0	mMinimum = min;
225	0	mMaximum = max;
226	0	}
227
228		inline void setExtents(
229		Real mx, Real my, Real mz,
230		Real Mx, Real My, Real Mz )
231	0	{
232	0	assert( (mx <= Mx && my <= My && mz <= Mz) &&
233	0	"The minimum corner of the box must be less than or equal to maximum corner" );
234	0
235	0	mExtent = EXTENT_FINITE;
236	0
237	0	mMinimum.x = mx;
238	0	mMinimum.y = my;
239	0	mMinimum.z = mz;
240	0
241	0	mMaximum.x = Mx;
242	0	mMaximum.y = My;
243	0	mMaximum.z = Mz;
244	0
245	0	}
246
247		/** Returns a pointer to an array of 8 corner points, useful for
248		collision vs. non-aligned objects.
249
250		If the order of these corners is important, they are as
251		follows: The 4 points of the minimum Z face (note that
252		because Ogre uses right-handed coordinates, the minimum Z is
253		at the 'back' of the box) starting with the minimum point of
254		all, then anticlockwise around this face (if you are looking
255		onto the face from outside the box). Then the 4 points of the
256		maximum Z face, starting with maximum point of all, then
257		anticlockwise around this face (looking onto the face from
258		outside the box). Like this:
259		<pre>
260		1-------2
261		/\| /\|
262		/ \| / \|
263		5-------4 \|
264		\| 0----\|--3
265		\| / \| /
266		\|/ \|/
267		6-------7
268		</pre>
269		*/
270		inline Corners getAllCorners(void) const
271	0	{
272	0	assert( (mExtent == EXTENT_FINITE) && "Can't get corners of a null or infinite AAB" );
273	0
274	0	// The order of these items is, using right-handed coordinates:
275	0	// Minimum Z face, starting with Min(all), then anticlockwise
276	0	// around face (looking onto the face)
277	0	// Maximum Z face, starting with Max(all), then anticlockwise
278	0	// around face (looking onto the face)
279	0	// Only for optimization/compatibility.
280	0	Corners corners;
281	0
282	0	corners[0] = getCorner(FAR_LEFT_BOTTOM);
283	0	corners[1] = getCorner(FAR_LEFT_TOP);
284	0	corners[2] = getCorner(FAR_RIGHT_TOP);
285	0	corners[3] = getCorner(FAR_RIGHT_BOTTOM);
286	0
287	0	corners[4] = getCorner(NEAR_RIGHT_TOP);
288	0	corners[5] = getCorner(NEAR_LEFT_TOP);
289	0	corners[6] = getCorner(NEAR_LEFT_BOTTOM);
290	0	corners[7] = getCorner(NEAR_RIGHT_BOTTOM);
291	0
292	0	return corners;
293	0	}
294
295		/** Gets the position of one of the corners
296		*/
297		Vector3 getCorner(CornerEnum cornerToGet) const
298	0	{
299	0	switch(cornerToGet)
300	0	{
301	0	case FAR_LEFT_BOTTOM:
302	0	return mMinimum;
303	0	case FAR_LEFT_TOP:
304	0	return Vector3(mMinimum.x, mMaximum.y, mMinimum.z);
305	0	case FAR_RIGHT_TOP:
306	0	return Vector3(mMaximum.x, mMaximum.y, mMinimum.z);
307	0	case FAR_RIGHT_BOTTOM:
308	0	return Vector3(mMaximum.x, mMinimum.y, mMinimum.z);
309	0	case NEAR_RIGHT_BOTTOM:
310	0	return Vector3(mMaximum.x, mMinimum.y, mMaximum.z);
311	0	case NEAR_LEFT_BOTTOM:
312	0	return Vector3(mMinimum.x, mMinimum.y, mMaximum.z);
313	0	case NEAR_LEFT_TOP:
314	0	return Vector3(mMinimum.x, mMaximum.y, mMaximum.z);
315	0	case NEAR_RIGHT_TOP:
316	0	return mMaximum;
317	0	default:
318	0	return Vector3();
319	0	}
320	0	}
321
322		/** Merges the passed in box into the current box. The result is the
323		box which encompasses both.
324		*/
325		void merge( const AxisAlignedBox& rhs )
326	0	{
327	0	// Do nothing if rhs null, or this is infinite
328	0	if ((rhs.mExtent == EXTENT_NULL) \|\| (mExtent == EXTENT_INFINITE))
329	0	{
330	0	return;
331	0	}
332	0	// Otherwise if rhs is infinite, make this infinite, too
333	0	else if (rhs.mExtent == EXTENT_INFINITE)
334	0	{
335	0	mExtent = EXTENT_INFINITE;
336	0	}
337	0	// Otherwise if current null, just take rhs
338	0	else if (mExtent == EXTENT_NULL)
339	0	{
340	0	setExtents(rhs.mMinimum, rhs.mMaximum);
341	0	}
342	0	// Otherwise merge
343	0	else
344	0	{
345	0	Vector3 min = mMinimum;
346	0	Vector3 max = mMaximum;
347	0	max.makeCeil(rhs.mMaximum);
348	0	min.makeFloor(rhs.mMinimum);
349	0
350	0	setExtents(min, max);
351	0	}
352	0
353	0	}
354
355		/** Extends the box to encompass the specified point (if needed).
356		*/
357		inline void merge( const Vector3& point )
358	0	{
359	0	switch (mExtent)
360	0	{
361	0	case EXTENT_NULL: // if null, use this point
362	0	setExtents(point, point);
363	0	return;
364	0
365	0	case EXTENT_FINITE:
366	0	mMaximum.makeCeil(point);
367	0	mMinimum.makeFloor(point);
368	0	return;
369	0
370	0	case EXTENT_INFINITE: // if infinite, makes no difference
371	0	return;
372	0	}
373	0
374	0	assert( false && "Never reached" );
375	0	}
376
377		/** Transforms the box according to the matrix supplied.
378
379		By calling this method you get the axis-aligned box which
380		surrounds the transformed version of this box. Therefore each
381		corner of the box is transformed by the matrix, then the
382		extents are mapped back onto the axes to produce another
383		AABB. Useful when you have a local AABB for an object which
384		is then transformed.
385		*/
386		inline void transform( const Matrix4& matrix )
387	0	{
388	0	// Do nothing if current null or infinite
389	0	if( mExtent != EXTENT_FINITE )
390	0	return;
391	0
392	0	Vector3 oldMin, oldMax, currentCorner;
393	0
394	0	// Getting the old values so that we can use the existing merge method.
395	0	oldMin = mMinimum;
396	0	oldMax = mMaximum;
397	0
398	0	// reset
399	0	setNull();
400	0
401	0	// We sequentially compute the corners in the following order :
402	0	// 0, 6, 5, 1, 2, 4 ,7 , 3
403	0	// This sequence allows us to only change one member at a time to get at all corners.
404	0
405	0	// For each one, we transform it using the matrix
406	0	// Which gives the resulting point and merge the resulting point.
407	0
408	0	// First corner
409	0	// min min min
410	0	currentCorner = oldMin;
411	0	merge( matrix * currentCorner );
412	0
413	0	// min,min,max
414	0	currentCorner.z = oldMax.z;
415	0	merge( matrix * currentCorner );
416	0
417	0	// min max max
418	0	currentCorner.y = oldMax.y;
419	0	merge( matrix * currentCorner );
420	0
421	0	// min max min
422	0	currentCorner.z = oldMin.z;
423	0	merge( matrix * currentCorner );
424	0
425	0	// max max min
426	0	currentCorner.x = oldMax.x;
427	0	merge( matrix * currentCorner );
428	0
429	0	// max max max
430	0	currentCorner.z = oldMax.z;
431	0	merge( matrix * currentCorner );
432	0
433	0	// max min max
434	0	currentCorner.y = oldMin.y;
435	0	merge( matrix * currentCorner );
436	0
437	0	// max min min
438	0	currentCorner.z = oldMin.z;
439	0	merge( matrix * currentCorner );
440	0	}
441
442		/** Transforms the box according to the affine matrix supplied.
443
444		By calling this method you get the axis-aligned box which
445		surrounds the transformed version of this box. Therefore each
446		corner of the box is transformed by the matrix, then the
447		extents are mapped back onto the axes to produce another
448		AABB. Useful when you have a local AABB for an object which
449		is then transformed.
450		*/
451		void transform(const Affine3& m)
452	0	{
453	0	// Do nothing if current null or infinite
454	0	if ( mExtent != EXTENT_FINITE )
455	0	return;
456	0
457	0	Vector3 centre = getCenter();
458	0	Vector3 halfSize = getHalfSize();
459	0
460	0	Vector3 newCentre = m * centre;
461	0	Vector3 newHalfSize(
462	0	Math::Abs(m[0][0]) * halfSize.x + Math::Abs(m[0][1]) * halfSize.y + Math::Abs(m[0][2]) * halfSize.z,
463	0	Math::Abs(m[1][0]) * halfSize.x + Math::Abs(m[1][1]) * halfSize.y + Math::Abs(m[1][2]) * halfSize.z,
464	0	Math::Abs(m[2][0]) * halfSize.x + Math::Abs(m[2][1]) * halfSize.y + Math::Abs(m[2][2]) * halfSize.z);
465	0
466	0	setExtents(newCentre - newHalfSize, newCentre + newHalfSize);
467	0	}
468
469		/** Sets the box to a 'null' value i.e. not a box.
470		*/
471		inline void setNull()
472	0	{
473	0	mExtent = EXTENT_NULL;
474	0	}
475
476		/** Returns true if the box is null i.e. empty.
477		*/
478		inline bool isNull(void) const
479	0	{
480	0	return (mExtent == EXTENT_NULL);
481	0	}
482
483		/** Returns true if the box is finite.
484		*/
485		bool isFinite(void) const
486	0	{
487	0	return (mExtent == EXTENT_FINITE);
488	0	}
489
490		/** Sets the box to 'infinite'
491		*/
492		inline void setInfinite()
493	0	{
494	0	mExtent = EXTENT_INFINITE;
495	0	}
496
497		/** Returns true if the box is infinite.
498		*/
499		bool isInfinite(void) const
500	0	{
501	0	return (mExtent == EXTENT_INFINITE);
502	0	}
503
504		/** Returns whether or not this box intersects another. */
505		inline bool intersects(const AxisAlignedBox& b2) const
506	0	{
507	0	// Early-fail for nulls
508	0	if (this->isNull() \|\| b2.isNull())
509	0	return false;
510	0
511	0	// Early-success for infinites
512	0	if (this->isInfinite() \|\| b2.isInfinite())
513	0	return true;
514	0
515	0	// Use up to 6 separating planes
516	0	if (mMaximum.x < b2.mMinimum.x)
517	0	return false;
518	0	if (mMaximum.y < b2.mMinimum.y)
519	0	return false;
520	0	if (mMaximum.z < b2.mMinimum.z)
521	0	return false;
522	0
523	0	if (mMinimum.x > b2.mMaximum.x)
524	0	return false;
525	0	if (mMinimum.y > b2.mMaximum.y)
526	0	return false;
527	0	if (mMinimum.z > b2.mMaximum.z)
528	0	return false;
529	0
530	0	// otherwise, must be intersecting
531	0	return true;
532	0
533	0	}
534
535		/// Calculate the area of intersection of this box and another
536		inline AxisAlignedBox intersection(const AxisAlignedBox& b2) const
537	0	{
538	0	if (this->isNull() \|\| b2.isNull())
539	0	{
540	0	return AxisAlignedBox();
541	0	}
542	0	else if (this->isInfinite())
543	0	{
544	0	return b2;
545	0	}
546	0	else if (b2.isInfinite())
547	0	{
548	0	return *this;
549	0	}
550	0
551	0	Vector3 intMin = mMinimum;
552	0	Vector3 intMax = mMaximum;
553	0
554	0	intMin.makeCeil(b2.getMinimum());
555	0	intMax.makeFloor(b2.getMaximum());
556	0
557	0	// Check intersection isn't null
558	0	if (intMin.x < intMax.x &&
559	0	intMin.y < intMax.y &&
560	0	intMin.z < intMax.z)
561	0	{
562	0	return AxisAlignedBox(intMin, intMax);
563	0	}
564	0
565	0	return AxisAlignedBox();
566	0	}
567
568		/// Calculate the volume of this box
569		Real volume(void) const
570	0	{
571	0	switch (mExtent)
572	0	{
573	0	case EXTENT_NULL:
574	0	return 0.0f;
575	0
576	0	case EXTENT_FINITE:
577	0	{
578	0	Vector3 diff = mMaximum - mMinimum;
579	0	return diff.x * diff.y * diff.z;
580	0	}
581	0
582	0	case EXTENT_INFINITE:
583	0	return Math::POS_INFINITY;
584	0
585	0	default: // shut up compiler
586	0	assert( false && "Never reached" );
587	0	return 0.0f;
588	0	}
589	0	}
590
591		/** Scales the AABB by the vector given. */
592		inline void scale(const Vector3& s)
593	0	{
594	0	// Do nothing if current null or infinite
595	0	if (mExtent != EXTENT_FINITE)
596	0	return;
597	0
598	0	// NB assumes centered on origin
599	0	Vector3 min = mMinimum * s;
600	0	Vector3 max = mMaximum * s;
601	0	setExtents(min, max);
602	0	}
603
604		/** Tests whether this box intersects a sphere. */
605		bool intersects(const Sphere& s) const
606	0	{
607	0	return Math::intersects(s, *this);
608	0	}
609		/** Tests whether this box intersects a plane. */
610		bool intersects(const Plane& p) const
611	0	{
612	0	return Math::intersects(p, *this);
613	0	}
614		/** Tests whether the vector point is within this box. */
615		bool intersects(const Vector3& v) const
616	0	{
617	0	switch (mExtent)
618	0	{
619	0	case EXTENT_NULL:
620	0	return false;
621	0
622	0	case EXTENT_FINITE:
623	0	return(v.x >= mMinimum.x && v.x <= mMaximum.x &&
624	0	v.y >= mMinimum.y && v.y <= mMaximum.y &&
625	0	v.z >= mMinimum.z && v.z <= mMaximum.z);
626	0
627	0	case EXTENT_INFINITE:
628	0	return true;
629	0
630	0	default: // shut up compiler
631	0	assert( false && "Never reached" );
632	0	return false;
633	0	}
634	0	}
635		/// Gets the centre of the box
636		Vector3 getCenter(void) const
637	0	{
638	0	assert( (mExtent == EXTENT_FINITE) && "Can't get center of a null or infinite AAB" );
639	0
640	0	return Vector3(
641	0	(mMaximum.x + mMinimum.x) * 0.5f,
642	0	(mMaximum.y + mMinimum.y) * 0.5f,
643	0	(mMaximum.z + mMinimum.z) * 0.5f);
644	0	}
645		/// Gets the size of the box
646		Vector3 getSize(void) const
647	0	{
648	0	switch (mExtent)
649	0	{
650	0	case EXTENT_NULL:
651	0	return Vector3::ZERO;
652	0
653	0	case EXTENT_FINITE:
654	0	return mMaximum - mMinimum;
655	0
656	0	case EXTENT_INFINITE:
657	0	return Vector3(
658	0	Math::POS_INFINITY,
659	0	Math::POS_INFINITY,
660	0	Math::POS_INFINITY);
661	0
662	0	default: // shut up compiler
663	0	assert( false && "Never reached" );
664	0	return Vector3::ZERO;
665	0	}
666	0	}
667		/// Gets the half-size of the box
668		Vector3 getHalfSize(void) const
669	0	{
670	0	switch (mExtent)
671	0	{
672	0	case EXTENT_NULL:
673	0	return Vector3::ZERO;
674	0
675	0	case EXTENT_FINITE:
676	0	return (mMaximum - mMinimum) * 0.5;
677	0
678	0	case EXTENT_INFINITE:
679	0	return Vector3(
680	0	Math::POS_INFINITY,
681	0	Math::POS_INFINITY,
682	0	Math::POS_INFINITY);
683	0
684	0	default: // shut up compiler
685	0	assert( false && "Never reached" );
686	0	return Vector3::ZERO;
687	0	}
688	0	}
689
690		/** Tests whether the given point contained by this box.
691		*/
692		bool contains(const Vector3& v) const
693	0	{
694	0	if (isNull())
695	0	return false;
696	0	if (isInfinite())
697	0	return true;
698	0
699	0	return mMinimum.x <= v.x && v.x <= mMaximum.x &&
700	0	mMinimum.y <= v.y && v.y <= mMaximum.y &&
701	0	mMinimum.z <= v.z && v.z <= mMaximum.z;
702	0	}
703
704		/** Returns the squared minimum distance between a given point and any part of the box.
705		* This is faster than distance since avoiding a squareroot, so use if you can. */
706		Real squaredDistance(const Vector3& v) const
707	0	{
708	0
709	0	if (this->contains(v))
710	0	return 0;
711	0	else
712	0	{
713	0	Vector3 maxDist(0,0,0);
714	0
715	0	if (v.x < mMinimum.x)
716	0	maxDist.x = mMinimum.x - v.x;
717	0	else if (v.x > mMaximum.x)
718	0	maxDist.x = v.x - mMaximum.x;
719	0
720	0	if (v.y < mMinimum.y)
721	0	maxDist.y = mMinimum.y - v.y;
722	0	else if (v.y > mMaximum.y)
723	0	maxDist.y = v.y - mMaximum.y;
724	0
725	0	if (v.z < mMinimum.z)
726	0	maxDist.z = mMinimum.z - v.z;
727	0	else if (v.z > mMaximum.z)
728	0	maxDist.z = v.z - mMaximum.z;
729	0
730	0	return maxDist.squaredLength();
731	0	}
732	0	}
733
734		/** Returns the minimum distance between a given point and any part of the box. */
735		Real distance (const Vector3& v) const
736	0	{
737	0	return Ogre::Math::Sqrt(squaredDistance(v));
738	0	}
739
740		/** Tests whether another box contained by this box.
741		*/
742		bool contains(const AxisAlignedBox& other) const
743	0	{
744	0	if (other.isNull() \|\| this->isInfinite())
745	0	return true;
746	0
747	0	if (this->isNull() \|\| other.isInfinite())
748	0	return false;
749	0
750	0	return this->mMinimum.x <= other.mMinimum.x &&
751	0	this->mMinimum.y <= other.mMinimum.y &&
752	0	this->mMinimum.z <= other.mMinimum.z &&
753	0	other.mMaximum.x <= this->mMaximum.x &&
754	0	other.mMaximum.y <= this->mMaximum.y &&
755	0	other.mMaximum.z <= this->mMaximum.z;
756	0	}
757
758		/** Tests 2 boxes for equality.
759		*/
760		bool operator== (const AxisAlignedBox& rhs) const
761	0	{
762	0	if (this->mExtent != rhs.mExtent)
763	0	return false;
764	0
765	0	if (!this->isFinite())
766	0	return true;
767	0
768	0	return this->mMinimum == rhs.mMinimum &&
769	0	this->mMaximum == rhs.mMaximum;
770	0	}
771
772		/** Tests 2 boxes for inequality.
773		*/
774		bool operator!= (const AxisAlignedBox& rhs) const
775	0	{
776	0	return !(*this == rhs);
777	0	}
778
779		// special values
780		static const AxisAlignedBox BOX_NULL;
781		static const AxisAlignedBox BOX_INFINITE;
782
783
784		};
785
786		_OgreExport std::ostream& operator<<(std::ostream& o, const AxisAlignedBox& aab);
787
788		/** @} */
789		/** @} */
790		} // namespace Ogre
791
792		#endif