/*******************************************************************************
* Copyright 2011 See AUTHORS file.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
******************************************************************************/
package com.badlogic.gdx.math.collision;
import java.io.Serializable;
import java.util.List;
import com.badlogic.gdx.math.Matrix4;
import com.badlogic.gdx.math.Vector3;
/** Encapsulates an axis aligned bounding box represented by a minimum and a maximum Vector. Additionally you can query for the
* bounding box's center, dimensions and corner points.
*
* @author badlogicgames@gmail.com, Xoppa */
public class BoundingBox implements Serializable {
private static final long serialVersionUID = -1286036817192127343L;
private final static Vector3 tmpVector = new Vector3();
public final Vector3 min = new Vector3();
public final Vector3 max = new Vector3();
private final Vector3 cnt = new Vector3();
private final Vector3 dim = new Vector3();
/** @param out The {@link Vector3} to receive the center of the bounding box.
* @return The vector specified with the out argument. */
public Vector3 getCenter (Vector3 out) {
return out.set(cnt);
}
public float getCenterX () {
return cnt.x;
}
public float getCenterY () {
return cnt.y;
}
public float getCenterZ () {
return cnt.z;
}
public Vector3 getCorner000 (final Vector3 out) {
return out.set(min.x, min.y, min.z);
}
public Vector3 getCorner001 (final Vector3 out) {
return out.set(min.x, min.y, max.z);
}
public Vector3 getCorner010 (final Vector3 out) {
return out.set(min.x, max.y, min.z);
}
public Vector3 getCorner011 (final Vector3 out) {
return out.set(min.x, max.y, max.z);
}
public Vector3 getCorner100 (final Vector3 out) {
return out.set(max.x, min.y, min.z);
}
public Vector3 getCorner101 (final Vector3 out) {
return out.set(max.x, min.y, max.z);
}
public Vector3 getCorner110 (final Vector3 out) {
return out.set(max.x, max.y, min.z);
}
public Vector3 getCorner111 (final Vector3 out) {
return out.set(max.x, max.y, max.z);
}
/** @param out The {@link Vector3} to receive the dimensions of this bounding box on all three axis.
* @return The vector specified with the out argument */
public Vector3 getDimensions (final Vector3 out) {
return out.set(dim);
}
public float getWidth () {
return dim.x;
}
public float getHeight () {
return dim.y;
}
public float getDepth () {
return dim.z;
}
/** @param out The {@link Vector3} to receive the minimum values.
* @return The vector specified with the out argument */
public Vector3 getMin (final Vector3 out) {
return out.set(min);
}
/** @param out The {@link Vector3} to receive the maximum values.
* @return The vector specified with the out argument */
public Vector3 getMax (final Vector3 out) {
return out.set(max);
}
/** Constructs a new bounding box with the minimum and maximum vector set to zeros. */
public BoundingBox () {
clr();
}
/** Constructs a new bounding box from the given bounding box.
*
* @param bounds The bounding box to copy */
public BoundingBox (BoundingBox bounds) {
this.set(bounds);
}
/** Constructs the new bounding box using the given minimum and maximum vector.
*
* @param minimum The minimum vector
* @param maximum The maximum vector */
public BoundingBox (Vector3 minimum, Vector3 maximum) {
this.set(minimum, maximum);
}
/** Sets the given bounding box.
*
* @param bounds The bounds.
* @return This bounding box for chaining. */
public BoundingBox set (BoundingBox bounds) {
return this.set(bounds.min, bounds.max);
}
/** Sets the given minimum and maximum vector.
*
* @param minimum The minimum vector
* @param maximum The maximum vector
* @return This bounding box for chaining. */
public BoundingBox set (Vector3 minimum, Vector3 maximum) {
min.set(minimum.x < maximum.x ? minimum.x : maximum.x, minimum.y < maximum.y ? minimum.y : maximum.y,
minimum.z < maximum.z ? minimum.z : maximum.z);
max.set(minimum.x > maximum.x ? minimum.x : maximum.x, minimum.y > maximum.y ? minimum.y : maximum.y,
minimum.z > maximum.z ? minimum.z : maximum.z);
cnt.set(min).add(max).scl(0.5f);
dim.set(max).sub(min);
return this;
}
/** Sets the bounding box minimum and maximum vector from the given points.
*
* @param points The points.
* @return This bounding box for chaining. */
public BoundingBox set (Vector3[] points) {
this.inf();
for (Vector3 l_point : points)
this.ext(l_point);
return this;
}
/** Sets the bounding box minimum and maximum vector from the given points.
*
* @param points The points.
* @return This bounding box for chaining. */
public BoundingBox set (List<Vector3> points) {
this.inf();
for (Vector3 l_point : points)
this.ext(l_point);
return this;
}
/** Sets the minimum and maximum vector to positive and negative infinity.
*
* @return This bounding box for chaining. */
public BoundingBox inf () {
min.set(Float.POSITIVE_INFINITY, Float.POSITIVE_INFINITY, Float.POSITIVE_INFINITY);
max.set(Float.NEGATIVE_INFINITY, Float.NEGATIVE_INFINITY, Float.NEGATIVE_INFINITY);
cnt.set(0, 0, 0);
dim.set(0, 0, 0);
return this;
}
/** Extends the bounding box to incorporate the given {@link Vector3}.
* @param point The vector
* @return This bounding box for chaining. */
public BoundingBox ext (Vector3 point) {
return this.set(min.set(min(min.x, point.x), min(min.y, point.y), min(min.z, point.z)),
max.set(Math.max(max.x, point.x), Math.max(max.y, point.y), Math.max(max.z, point.z)));
}
/** Sets the minimum and maximum vector to zeros.
* @return This bounding box for chaining. */
public BoundingBox clr () {
return this.set(min.set(0, 0, 0), max.set(0, 0, 0));
}
/** Returns whether this bounding box is valid. This means that {@link #max} is greater than or equal to {@link #min}.
* @return True in case the bounding box is valid, false otherwise */
public boolean isValid () {
return min.x <= max.x && min.y <= max.y && min.z <= max.z;
}
/** Extends this bounding box by the given bounding box.
*
* @param a_bounds The bounding box
* @return This bounding box for chaining. */
public BoundingBox ext (BoundingBox a_bounds) {
return this.set(min.set(min(min.x, a_bounds.min.x), min(min.y, a_bounds.min.y), min(min.z, a_bounds.min.z)),
max.set(max(max.x, a_bounds.max.x), max(max.y, a_bounds.max.y), max(max.z, a_bounds.max.z)));
}
/** Extends this bounding box by the given sphere.
*
* @param center Sphere center
* @param radius Sphere radius
* @return This bounding box for chaining. */
public BoundingBox ext (Vector3 center, float radius) {
return this.set(min.set(min(min.x, center.x - radius), min(min.y, center.y - radius), min(min.z, center.z - radius)),
max.set(max(max.x, center.x + radius), max(max.y, center.y + radius), max(max.z, center.z + radius)));
}
/** Extends this bounding box by the given transformed bounding box.
*
* @param bounds The bounding box
* @param transform The transformation matrix to apply to bounds, before using it to extend this bounding box.
* @return This bounding box for chaining. */
public BoundingBox ext (BoundingBox bounds, Matrix4 transform) {
ext(tmpVector.set(bounds.min.x, bounds.min.y, bounds.min.z).mul(transform));
ext(tmpVector.set(bounds.min.x, bounds.min.y, bounds.max.z).mul(transform));
ext(tmpVector.set(bounds.min.x, bounds.max.y, bounds.min.z).mul(transform));
ext(tmpVector.set(bounds.min.x, bounds.max.y, bounds.max.z).mul(transform));
ext(tmpVector.set(bounds.max.x, bounds.min.y, bounds.min.z).mul(transform));
ext(tmpVector.set(bounds.max.x, bounds.min.y, bounds.max.z).mul(transform));
ext(tmpVector.set(bounds.max.x, bounds.max.y, bounds.min.z).mul(transform));
ext(tmpVector.set(bounds.max.x, bounds.max.y, bounds.max.z).mul(transform));
return this;
}
/** Multiplies the bounding box by the given matrix. This is achieved by multiplying the 8 corner points and then calculating
* the minimum and maximum vectors from the transformed points.
*
* @param transform The matrix
* @return This bounding box for chaining. */
public BoundingBox mul (Matrix4 transform) {
final float x0 = min.x, y0 = min.y, z0 = min.z, x1 = max.x, y1 = max.y, z1 = max.z;
inf();
ext(tmpVector.set(x0, y0, z0).mul(transform));
ext(tmpVector.set(x0, y0, z1).mul(transform));
ext(tmpVector.set(x0, y1, z0).mul(transform));
ext(tmpVector.set(x0, y1, z1).mul(transform));
ext(tmpVector.set(x1, y0, z0).mul(transform));
ext(tmpVector.set(x1, y0, z1).mul(transform));
ext(tmpVector.set(x1, y1, z0).mul(transform));
ext(tmpVector.set(x1, y1, z1).mul(transform));
return this;
}
/** Returns whether the given bounding box is contained in this bounding box.
* @param b The bounding box
* @return Whether the given bounding box is contained */
public boolean contains (BoundingBox b) {
return !isValid()
|| (min.x <= b.min.x && min.y <= b.min.y && min.z <= b.min.z && max.x >= b.max.x && max.y >= b.max.y && max.z >= b.max.z);
}
/** Returns whether the given bounding box is intersecting this bounding box (at least one point in).
* @param b The bounding box
* @return Whether the given bounding box is intersected */
public boolean intersects (BoundingBox b) {
if (!isValid()) return false;
// test using SAT (separating axis theorem)
float lx = Math.abs(this.cnt.x - b.cnt.x);
float sumx = (this.dim.x / 2.0f) + (b.dim.x / 2.0f);
float ly = Math.abs(this.cnt.y - b.cnt.y);
float sumy = (this.dim.y / 2.0f) + (b.dim.y / 2.0f);
float lz = Math.abs(this.cnt.z - b.cnt.z);
float sumz = (this.dim.z / 2.0f) + (b.dim.z / 2.0f);
return (lx <= sumx && ly <= sumy && lz <= sumz);
}
/** Returns whether the given vector is contained in this bounding box.
* @param v The vector
* @return Whether the vector is contained or not. */
public boolean contains (Vector3 v) {
return min.x <= v.x && max.x >= v.x && min.y <= v.y && max.y >= v.y && min.z <= v.z && max.z >= v.z;
}
@Override
public String toString () {
return "[" + min + "|" + max + "]";
}
/** Extends the bounding box by the given vector.
*
* @param x The x-coordinate
* @param y The y-coordinate
* @param z The z-coordinate
* @return This bounding box for chaining. */
public BoundingBox ext (float x, float y, float z) {
return this.set(min.set(min(min.x, x), min(min.y, y), min(min.z, z)), max.set(max(max.x, x), max(max.y, y), max(max.z, z)));
}
static final float min (final float a, final float b) {
return a > b ? b : a;
}
static final float max (final float a, final float b) {
return a > b ? a : b;
}
}