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# csgeom/math3d.h

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    00001 /*
    00002     Copyright (C) 1998-2005 by Jorrit Tyberghein
    00003     Largely rewritten by Ivan Avramovic <ivan@avramovic.com>
    00004
    00005     This library is free software; you can redistribute it and/or
    00006     modify it under the terms of the GNU Library General Public
    00007     License as published by the Free Software Foundation; either
    00008     version 2 of the License, or (at your option) any later version.
    00009
    00010     This library is distributed in the hope that it will be useful,
    00011     but WITHOUT ANY WARRANTY; without even the implied warranty of
    00012     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    00013     Library General Public License for more details.
    00014
    00015     You should have received a copy of the GNU Library General Public
    00016     License along with this library; if not, write to the Free
    00017     Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
    00018 */
    00019
    00020 #ifndef __CS_MATH3D_H__
    00021 #define __CS_MATH3D_H__
    00022
    00030 #include "csextern.h"
    00031
    00032 #include "csgeom/box.h"
    00033 #include "csgeom/frustum.h"
    00034 #include "csgeom/plane3.h"
    00035 #include "csgeom/segment.h"
    00036 #include "csgeom/vector3.h"
    00037 #include "csutil/ref.h"
    00038 #include "csutil/scf_implementation.h"
    00039
    00040 #include "iutil/dbghelp.h"
    00041
    00042 struct iString;
    00043 class csPlane2;
    00044 class csPoly3D;
    00045
    00050 class CS_CRYSTALSPACE_EXPORT csMath3
    00051 {
    00052 public:
    00065   static int WhichSide3D (const csVector3& p,
    00066                           const csVector3& v1, const csVector3& v2)
    00067   {
    00068 //    float s = p * (v1%v2);  (original expression: expanded to the below:)
    00069     float s = p.x*(v1.y*v2.z-v1.z*v2.y) + p.y*(v1.z*v2.x-v1.x*v2.z) +
    00070               p.z*(v1.x*v2.y-v1.y*v2.x);
    00071     if (s < 0) return 1;
    00072     else if (s > 0) return -1;
    00073     else return 0;
    00074   }
    00075
    00081   static bool Visible (const csVector3& p, const csVector3& t1,
    00082                        const csVector3& t2, const csVector3& t3);
    00083
    00089   static bool Visible (const csVector3& p, const csPlane3& pl)
    00090   { return pl.Classify (p) <= 0; }
    00091
    00101   static void Between (const csVector3& v1, const csVector3& v2, csVector3& v,
    00102                        float pct, float wid);
    00103
    00110   static void SetMinMax (const csVector3& v,
    00111                          csVector3& min, csVector3& max)
    00112   {
    00113     if (v.x > max.x) max.x = v.x; else if (v.x < min.x ) min.x = v.x;
    00114     if (v.y > max.y) max.y = v.y; else if (v.y < min.y ) min.y = v.y;
    00115     if (v.z > max.z) max.z = v.z; else if (v.z < min.z ) min.z = v.z;
    00116   }
    00117
    00123   inline static float DoubleArea3 (const csVector3 &a, const csVector3 &b,
    00124                              const csVector3 &c)
    00125   {
    00126     csVector3 v1 = b - a;
    00127     csVector3 v2 = c - a;
    00128     return (v1 % v2).Norm ();
    00129   }
    00130
    00134   inline static float Direction3 (const csVector3 &a, const csVector3 &b,
    00135                              const csVector3 &c)
    00136   {
    00137     csVector3 v1 = b - a;
    00138     csVector3 v2 = c - a;
    00139     return ((v1.y * v2.z + v1.z * v2.x + v1.x * v2.y) -
    00140             (v1.y * v2.x + v1.x * v2.z + v1.z * v2.y));
    00141   }
    00142
    00148   inline static void CalcNormal (csVector3& norm,     const csVector3& v1,
    00149                                  const csVector3& v2, const csVector3& v3)
    00150   {
    00151     norm = (v1-v2)%(v1-v3);
    00152   }
    00153
    00159   static void CalcNormal (csVector3& norm,
    00160                           const csVector3& v, const csVector3& u)
    00161   { norm = u%v; /* NOT v%u - vertexes are defined clockwise */ }
    00162
    00169   static void CalcPlane (const csVector3& v1, const csVector3& v2,
    00170          const csVector3& v3, csVector3& normal, float& D)
    00171   {
    00172     CalcNormal (normal, v1, v2, v3);
    00173     D = - (normal * v1);
    00174   }
    00175
    00182   static bool PlanesEqual (const csPlane3& p1, const csPlane3& p2)
    00183   {
    00184     return ( ( p1.norm - p2.norm) < (float).001 ) &&
    00185              (  ABS (p1.DD-p2.DD) < (float).001 );
    00186   }
    00187
    00193   static bool PlanesClose (const csPlane3& p1, const csPlane3& p2);
    00194
    00202   static int OuterPlanes (const csBox3& box1, const csBox3& box2,
    00203     csPlane3* planes);
    00204
    00212   static int FindObserverSides (const csBox3& box1, const csBox3& box2,
    00213         int* sides);
    00214
    00220   static void SpherePosition (float angle_xz, float angle_vert,
    00221         csVector3& pos);
    00222 };
    00223
    00228 class CS_CRYSTALSPACE_EXPORT csSquaredDist
    00229 {
    00230 public:
    00232   static float PointPoint (const csVector3& p1, const csVector3& p2)
    00233   {
    00234     csVector3 d = (p1-p2);
    00235     return d*d;
    00236   }
    00237
    00239   static float PointLine (const csVector3& p,
    00240                           const csVector3& l1, const csVector3& l2);
    00241
    00243   static float PointPlane (const csVector3& p, const csPlane3& plane)
    00244   { float r = plane.Classify (p);  return r * r; }
    00245
    00252   static float PointPoly (const csVector3& p, csVector3 *V, int n,
    00253                           const csPlane3& plane, float sqdist = -1);
    00254 };
    00255
    00261 class CS_CRYSTALSPACE_EXPORT csIntersect3
    00262 {
    00263 private:
    00264   static bool BoxPlaneInternal (const csVector3& normal,
    00265         const csVector3& vert, const csVector3& boxhalfsize);
    00266
    00267 public:
    00274   static bool PlanePolygon (const csPlane3& plane, csPoly3D* poly,
    00275         csSegment3& segment);
    00276
    00286   static int SegmentFrustum (csPlane3* planes, int num_planes,
    00287         csSegment3& seg);
    00288
    00295   static bool SegmentTriangle (const csSegment3& seg,
    00296         const csVector3& tr1,
    00297         const csVector3& tr2, const csVector3& tr3,
    00298         csVector3& isect);
    00299
    00307   static bool SegmentPolygon (const csSegment3& seg, const csPoly3D& poly,
    00308         const csPlane3& poly_plane, csVector3& isect);
    00309
    00318   static bool SegmentPlanes (
    00319      const csVector3& u, const csVector3& v,
    00320      const csPlane3* planes, int length,
    00321      csVector3& isect, float& dist);
    00322
    00328   static bool SegmentPlane (
    00329     const csVector3& u, const csVector3& v,
    00330     const csVector3& normal, const csVector3& a, // plane
    00331     csVector3& isect, float& dist);              // intersection point
    00332
    00355   static bool SegmentPlane (
    00356     const csVector3& u, const csVector3& v,
    00357     const csPlane3& p,                     // plane Ax+By+Cz+D=0
    00358     csVector3& isect,                     // intersection point
    00359     float& dist);                       // distance from u to isect
    00360
    00367   static bool ThreePlanes (const csPlane3& p1, const csPlane3& p2,
    00368         const csPlane3& p3, csVector3& isect);
    00369
    00376   static bool PlaneXPlane (const csPlane3& p1, float x2, csPlane2& isect);
    00377
    00384   static bool PlaneYPlane (const csPlane3& p1, float y2, csPlane2& isect);
    00385
    00392   static bool PlaneZPlane (const csPlane3& p1, float z2, csPlane2& isect);
    00393
    00400   static bool PlaneAxisPlane (const csPlane3& p1, int nr, float pos,
    00401         csPlane2& isect)
    00402   {
    00403     switch (nr)
    00404     {
    00405       case 0: return PlaneXPlane (p1, pos, isect);
    00406       case 1: return PlaneYPlane (p1, pos, isect);
    00407       case 2: return PlaneZPlane (p1, pos, isect);
    00408     }
    00409     return false;
    00410   }
    00411
    00418   static float SegmentZ0Plane (
    00419     const csVector3& v1, const csVector3& v2,
    00420     csVector3& isect);                    // intersection point
    00421
    00428   static float SegmentZ0Plane (
    00429     const csSegment3& uv,
    00430     csVector3& isect)                    // intersection point
    00431   {
    00432     return SegmentZ0Plane (uv.Start (), uv.End (), isect);
    00433   }
    00434
    00441   static float SegmentXPlane (
    00442     const csVector3& u, const csVector3& v,
    00443     float xval,
    00444     csVector3& isect);                    // intersection point
    00445
    00452   static float SegmentXPlane (
    00453     const csSegment3& uv,
    00454     float xval,
    00455     csVector3& isect)                     // intersection point
    00456   {
    00457     return SegmentXPlane (uv.Start (), uv.End (), xval, isect);
    00458   }
    00459
    00466   static float SegmentYPlane (
    00467     const csVector3& u, const csVector3& v,
    00468     float yval,      // plane y = yval
    00469     csVector3& isect);                    // intersection point
    00470
    00477   static float SegmentYPlane (
    00478     const csSegment3& uv,
    00479     float yval,      // plane y = yval
    00480     csVector3& isect)                     // intersection point
    00481   {
    00482     return SegmentYPlane (uv.Start (), uv.End (), yval, isect);
    00483   }
    00484
    00491   static float SegmentZPlane (
    00492     const csVector3& u, const csVector3& v,
    00493     float zval,      // plane z = zval
    00494     csVector3& isect);                    // intersection point
    00495
    00502   static float SegmentZPlane (
    00503     const csSegment3& uv,
    00504     float zval,      // plane z = zval
    00505     csVector3& isect)                     // intersection point
    00506   {
    00507     return SegmentZPlane (uv.Start (), uv.End (), zval, isect);
    00508   }
    00509
    00516   static float SegmentAxisPlane (const csVector3& u, const csVector3& v,
    00517         int nr, float pos, csVector3& isect)
    00518   {
    00519     switch (nr)
    00520     {
    00521       case 0: return SegmentXPlane (u, v, pos, isect);
    00522       case 1: return SegmentYPlane (u, v, pos, isect);
    00523       case 2: return SegmentZPlane (u, v, pos, isect);
    00524     }
    00525     return 0.0;
    00526   }
    00527
    00532   static float SegmentXFrustum (
    00533     const csVector3& u, const csVector3& v, float A, csVector3& isect);
    00534
    00539   static float SegmentXFrustum (
    00540     const csSegment3& uv, float A, csVector3& isect)
    00541   {
    00542     return SegmentXFrustum (uv.Start (), uv.End (), A, isect);
    00543   }
    00544
    00549   static float SegmentYFrustum (
    00550     const csVector3& u, const csVector3& v, float B, csVector3& isect);
    00551
    00556   static float SegmentYFrustum (
    00557     const csSegment3& uv, float B, csVector3& isect)
    00558   {
    00559     return SegmentYFrustum (uv.Start (), uv.End (), B, isect);
    00560   }
    00561
    00576   static int BoxSegment (const csBox3& box, const csSegment3& segment,
    00577         csVector3& isect, float* pr = 0);
    00578
    00588   static bool BoxFrustum (const csBox3& box, csPlane3* frustum,
    00589         uint32 inClipMask, uint32& outClipMask);
    00590
    00594   static bool BoxFrustum (const csBox3& box, const csFrustum* frustum);
    00595
    00600   static bool BoxSphere (const csBox3& box, const csVector3& center,
    00601                   float sqradius);
    00602
    00606   static bool BoxPlane (const csBox3& box, const csPlane3& plane);
    00607
    00612   static bool BoxPlane (const csBox3& box, const csVector3& normal,
    00613         const csVector3& vert);
    00614
    00618   static bool BoxTriangle (const csBox3& box,
    00619         const csVector3& tri0, const csVector3& tri1, const csVector3& tri2);
    00620
    00624   static bool BoxBox (const csBox3& box1, const csBox3& box2)
    00625   {
    00626     return box1.TestIntersect (box2);
    00627   }
    00628
    00632   static csPtr<csFrustum> FrustumFrustum (const csFrustum& f1,
    00633         const csFrustum& f2)
    00634   {
    00635     return f1.Intersect (f2);
    00636   }
    00637
    00641   static csPtr<csFrustum> FrustumFrustum (const csFrustum& f1,
    00642         csVector3* poly, int num)
    00643   {
    00644     return f1.Intersect (poly, num);
    00645   }
    00646
    00653   static bool TriangleTriangle (const csVector3 tri1[3],
    00654                          const csVector3 tri2[3]);
    00655
    00665   static bool TriangleTriangle (const csVector3 tri1[3],
    00666                          const csVector3 tri2[3],
    00667                          csSegment3& isectline, bool& coplanar);
    00668 };
    00669
    00674 class CS_CRYSTALSPACE_EXPORT csGeomDebugHelper :
    00675   public scfImplementation1<csGeomDebugHelper, iDebugHelper>
    00676 {
    00677 public:
    00678   csGeomDebugHelper ();
    00679   virtual ~csGeomDebugHelper ();
    00680
    00681   virtual int GetSupportedTests () const
    00682   {
    00683     return CS_DBGHELP_UNITTEST;
    00684   }
    00685   virtual csPtr<iString> UnitTest ();
    00686   virtual csPtr<iString> StateTest ()
    00687   {
    00688     return 0;
    00689   }
    00690   virtual csTicks Benchmark (int /*num_iterations*/)
    00691   {
    00692     return 0;
    00693   }
    00694   virtual csPtr<iString> Dump ()
    00695   {
    00696     return 0;
    00697   }
    00698   virtual void Dump (iGraphics3D* /*g3d*/)
    00699   {
    00700   }
    00701   virtual bool DebugCommand (const char*)
    00702   {
    00703     return false;
    00704   }
    00705 };
    00706
    00709 #endif // __CS_MATH3D_H__
    00710