EgtGeomKernel 2.5e3 :
- a BBox3d aggiunto 2° metodo Overlaps con box aventi diverso orientamento - nelle funzioni di Collision Detection migliorato controllo non interne - nele funzioni Avoid di Zmap si utilizza confronto box con diverso orientamento.
This commit is contained in:
DarioS
+101
-29
@@ -447,69 +447,141 @@ BBox3d::EnclosesXY( const BBox3d& b3Box) const
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//----------------------------------------------------------------------------
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bool
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BBox3d::Overlaps( const BBox3d& b3B) const
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BBox3d::Overlaps( const BBox3d& b3Box) const
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{
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if ( m_ptMax.x < b3B.m_ptMin.x - EPS_SMALL || m_ptMin.x > b3B.m_ptMax.x + EPS_SMALL)
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if ( m_ptMax.x < b3Box.m_ptMin.x - EPS_SMALL || m_ptMin.x > b3Box.m_ptMax.x + EPS_SMALL)
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return false ;
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if ( m_ptMax.y < b3B.m_ptMin.y - EPS_SMALL || m_ptMin.y > b3B.m_ptMax.y + EPS_SMALL)
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if ( m_ptMax.y < b3Box.m_ptMin.y - EPS_SMALL || m_ptMin.y > b3Box.m_ptMax.y + EPS_SMALL)
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return false ;
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if ( m_ptMax.z < b3B.m_ptMin.z - EPS_SMALL || m_ptMin.z > b3B.m_ptMax.z + EPS_SMALL)
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if ( m_ptMax.z < b3Box.m_ptMin.z - EPS_SMALL || m_ptMin.z > b3Box.m_ptMax.z + EPS_SMALL)
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return false ;
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return true ;
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}
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//----------------------------------------------------------------------------
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bool
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BBox3d::OverlapsXY( const BBox3d& b3B) const
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BBox3d::OverlapsXY( const BBox3d& b3Box) const
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{
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if ( m_ptMax.x < b3B.m_ptMin.x - EPS_SMALL || m_ptMin.x > b3B.m_ptMax.x + EPS_SMALL)
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if ( m_ptMax.x < b3Box.m_ptMin.x - EPS_SMALL || m_ptMin.x > b3Box.m_ptMax.x + EPS_SMALL)
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return false ;
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if ( m_ptMax.y < b3B.m_ptMin.y - EPS_SMALL || m_ptMin.y > b3B.m_ptMax.y + EPS_SMALL)
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if ( m_ptMax.y < b3Box.m_ptMin.y - EPS_SMALL || m_ptMin.y > b3Box.m_ptMax.y + EPS_SMALL)
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return false ;
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return true ;
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}
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//----------------------------------------------------------------------------
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bool
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BBox3d::FindIntersection( const BBox3d& b3B, BBox3d& b3Int) const
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inline bool
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TestSeparatingAxis( const Vector3d& vtAx, const Vector3d& vtDiff, const Vector3d& vtHe,
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const Vector3d& vtHe2X, const Vector3d& vtHe2Y, const Vector3d& vtHe2Z)
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{
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if ( ! IsValid() || ! b3B.IsValid())
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if ( vtAx.IsSmall())
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return false ;
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double dLen = ( vtAx.IsNormalized() ? 1 : vtAx.Len()) ;
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return ( abs( vtDiff * vtAx) >
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abs( vtHe.x * vtAx.x) + abs( vtHe.y * vtAx.y) + abs( vtHe.z * vtAx.z) +
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abs( vtHe2X * vtAx) + abs( vtHe2Y * vtAx) + abs( vtHe2Z * vtAx) + EPS_SMALL * dLen) ;
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}
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//----------------------------------------------------------------------------
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bool
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BBox3d::Overlaps( const Frame3d& frBox, const BBox3d& b3Box) const
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{
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// Verifico validità di entrambi i box
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if ( ! IsValid() || ! b3Box.IsValid())
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return false ;
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// Centro e semiampiezza del box
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Point3d ptCen = ( m_ptMin + m_ptMax) / 2 ;
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Vector3d vtHe = ( m_ptMax - m_ptMin) / 2 ;
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// Centro e semiampiezza dell'altro box
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Point3d ptCen2 = GetToGlob( ( b3Box.m_ptMin + b3Box.m_ptMax) / 2, frBox) ;
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Vector3d vtHe2X = GetToGlob( Vector3d( ( b3Box.GetDimX()) / 2, 0, 0), frBox) ;
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Vector3d vtHe2Y = GetToGlob( Vector3d( 0, ( b3Box.GetDimY()) / 2, 0), frBox) ;
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Vector3d vtHe2Z = GetToGlob( Vector3d( 0, 0, ( b3Box.GetDimZ()) / 2), frBox) ;
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// Vettore tra i due centri
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Vector3d vtDiff = ptCen2 - ptCen ;
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// Verifico separazione sulle normali ai piani principali del riferimento globale
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if ( TestSeparatingAxis( X_AX, vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( Y_AX, vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( Z_AX, vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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// Verifico separazione sulle normali ai piani principali del secondo riferimento
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if ( TestSeparatingAxis( frBox.VersX(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( frBox.VersY(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( frBox.VersZ(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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// Verifico separazione sulle altre normali ottenute come prodotto vettoriali di quelle precedenti
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if ( TestSeparatingAxis( X_AX ^ frBox.VersX(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( X_AX ^ frBox.VersY(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( X_AX ^ frBox.VersZ(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( Y_AX ^ frBox.VersX(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( Y_AX ^ frBox.VersY(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( Y_AX ^ frBox.VersZ(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( Z_AX ^ frBox.VersX(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( Z_AX ^ frBox.VersY(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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if ( TestSeparatingAxis( Z_AX ^ frBox.VersZ(), vtDiff, vtHe, vtHe2X, vtHe2Y, vtHe2Z))
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return false ;
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// Si sovrappongono
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return true ;
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}
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//----------------------------------------------------------------------------
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bool
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BBox3d::FindIntersection( const BBox3d& b3Box, BBox3d& b3Int) const
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{
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if ( ! IsValid() || ! b3Box.IsValid())
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return false ;
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// verifico direttamente la sovrapposizione
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if ( m_ptMax.x < b3B.m_ptMin.x - EPS_SMALL || m_ptMin.x > b3B.m_ptMax.x + EPS_SMALL)
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if ( m_ptMax.x < b3Box.m_ptMin.x - EPS_SMALL || m_ptMin.x > b3Box.m_ptMax.x + EPS_SMALL)
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return false ;
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if ( m_ptMax.y < b3B.m_ptMin.y - EPS_SMALL || m_ptMin.y > b3B.m_ptMax.y + EPS_SMALL)
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if ( m_ptMax.y < b3Box.m_ptMin.y - EPS_SMALL || m_ptMin.y > b3Box.m_ptMax.y + EPS_SMALL)
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return false ;
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if ( m_ptMax.z < b3B.m_ptMin.z - EPS_SMALL || m_ptMin.z > b3B.m_ptMax.z + EPS_SMALL)
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if ( m_ptMax.z < b3Box.m_ptMin.z - EPS_SMALL || m_ptMin.z > b3Box.m_ptMax.z + EPS_SMALL)
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return false ;
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// calcolo il box intersezione
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b3Int.m_ptMin.x = (( m_ptMin.x >= b3B.m_ptMin.x) ? m_ptMin.x : b3B.m_ptMin.x) ;
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b3Int.m_ptMin.y = (( m_ptMin.y >= b3B.m_ptMin.y) ? m_ptMin.y : b3B.m_ptMin.y) ;
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b3Int.m_ptMin.z = (( m_ptMin.z >= b3B.m_ptMin.z) ? m_ptMin.z : b3B.m_ptMin.z) ;
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b3Int.m_ptMax.x = (( m_ptMax.x <= b3B.m_ptMax.x) ? m_ptMax.x : b3B.m_ptMax.x) ;
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b3Int.m_ptMax.y = (( m_ptMax.y <= b3B.m_ptMax.y) ? m_ptMax.y : b3B.m_ptMax.y) ;
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b3Int.m_ptMax.z = (( m_ptMax.z <= b3B.m_ptMax.z) ? m_ptMax.z : b3B.m_ptMax.z) ;
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b3Int.m_ptMin.x = (( m_ptMin.x >= b3Box.m_ptMin.x) ? m_ptMin.x : b3Box.m_ptMin.x) ;
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b3Int.m_ptMin.y = (( m_ptMin.y >= b3Box.m_ptMin.y) ? m_ptMin.y : b3Box.m_ptMin.y) ;
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b3Int.m_ptMin.z = (( m_ptMin.z >= b3Box.m_ptMin.z) ? m_ptMin.z : b3Box.m_ptMin.z) ;
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b3Int.m_ptMax.x = (( m_ptMax.x <= b3Box.m_ptMax.x) ? m_ptMax.x : b3Box.m_ptMax.x) ;
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b3Int.m_ptMax.y = (( m_ptMax.y <= b3Box.m_ptMax.y) ? m_ptMax.y : b3Box.m_ptMax.y) ;
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b3Int.m_ptMax.z = (( m_ptMax.z <= b3Box.m_ptMax.z) ? m_ptMax.z : b3Box.m_ptMax.z) ;
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return true ;
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}
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//----------------------------------------------------------------------------
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bool
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BBox3d::FindIntersectionXY( const BBox3d& b3B, BBox3d& b3Int) const
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BBox3d::FindIntersectionXY( const BBox3d& b3Box, BBox3d& b3Int) const
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{
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if ( ! IsValid() || ! b3B.IsValid())
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if ( ! IsValid() || ! b3Box.IsValid())
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return false ;
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// verifico direttamente la sovrapposizione
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if ( m_ptMax.x < b3B.m_ptMin.x - EPS_SMALL || m_ptMin.x > b3B.m_ptMax.x + EPS_SMALL)
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if ( m_ptMax.x < b3Box.m_ptMin.x - EPS_SMALL || m_ptMin.x > b3Box.m_ptMax.x + EPS_SMALL)
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return false ;
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if ( m_ptMax.y < b3B.m_ptMin.y - EPS_SMALL || m_ptMin.y > b3B.m_ptMax.y + EPS_SMALL)
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if ( m_ptMax.y < b3Box.m_ptMin.y - EPS_SMALL || m_ptMin.y > b3Box.m_ptMax.y + EPS_SMALL)
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return false ;
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// calcolo il box intersezione
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b3Int.m_ptMin.x = (( m_ptMin.x >= b3B.m_ptMin.x) ? m_ptMin.x : b3B.m_ptMin.x) ;
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b3Int.m_ptMin.y = (( m_ptMin.y >= b3B.m_ptMin.y) ? m_ptMin.y : b3B.m_ptMin.y) ;
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b3Int.m_ptMin.z = 0.5 * ( m_ptMin.z + b3B.m_ptMin.z) ;
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b3Int.m_ptMax.x = (( m_ptMax.x <= b3B.m_ptMax.x) ? m_ptMax.x : b3B.m_ptMax.x) ;
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b3Int.m_ptMax.y = (( m_ptMax.y <= b3B.m_ptMax.y) ? m_ptMax.y : b3B.m_ptMax.y) ;
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b3Int.m_ptMax.z = 0.5 * ( m_ptMax.z + b3B.m_ptMax.z) ;
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b3Int.m_ptMin.x = (( m_ptMin.x >= b3Box.m_ptMin.x) ? m_ptMin.x : b3Box.m_ptMin.x) ;
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b3Int.m_ptMin.y = (( m_ptMin.y >= b3Box.m_ptMin.y) ? m_ptMin.y : b3Box.m_ptMin.y) ;
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b3Int.m_ptMin.z = 0.5 * ( m_ptMin.z + b3Box.m_ptMin.z) ;
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b3Int.m_ptMax.x = (( m_ptMax.x <= b3Box.m_ptMax.x) ? m_ptMax.x : b3Box.m_ptMax.x) ;
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b3Int.m_ptMax.y = (( m_ptMax.y <= b3Box.m_ptMax.y) ? m_ptMax.y : b3Box.m_ptMax.y) ;
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b3Int.m_ptMax.z = 0.5 * ( m_ptMax.z + b3Box.m_ptMax.z) ;
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return true ;
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}
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