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Small cleanups, bug fixes and improovements to the geometry/math stuff.

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Modified Files:
	simgear/math/SGBox.hxx simgear/math/SGIntersect.hxx
	simgear/math/SGLineSegment.hxx simgear/math/SGMatrix.hxx
	simgear/math/SGPlane.hxx simgear/math/SGRay.hxx
	simgear/math/SGSphere.hxx simgear/math/SGVec2.hxx
	simgear/math/SGVec3.hxx simgear/math/SGVec4.hxx
This commit is contained in:
frohlich
2009-02-22 08:13:24 +00:00
committed by Tim Moore
parent 812170ebce
commit d11954e80c
10 changed files with 207 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
simgear/math/SGBox.hxx
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@@ -25,6 +25,20 @@ public:
_min(SGLimits<T>::max(), SGLimits<T>::max(), SGLimits<T>::max()),
_max(-SGLimits<T>::max(), -SGLimits<T>::max(), -SGLimits<T>::max())
{ }
SGBox(const SGVec3<T>& pt) :
_min(pt),
_max(pt)
{ }
SGBox(const SGVec3<T>& min, const SGVec3<T>& max) :
_min(min),
_max(max)
{ }
template<typename S>
explicit SGBox(const SGBox<S>& box) :
_min(box.getMin()),
_max(box.getMax())
{ }
void setMin(const SGVec3<T>& min)
{ _min = min; }
const SGVec3<T>& getMin() const
@@ -35,6 +49,29 @@ public:
const SGVec3<T>& getMax() const
{ return _max; }
SGVec3<T> getCorner(unsigned i) const
{ return SGVec3<T>((i&1) ? _min[0] : _max[0],
(i&2) ? _min[1] : _max[1],
(i&4) ? _min[2] : _max[2]); }
template<typename S>
SGVec3<T> getNearestCorner(const SGVec3<S>& pt) const
{
SGVec3<T> center = getCenter();
return SGVec3<T>((pt[0] <= center[0]) ? _min[0] : _max[0],
(pt[1] <= center[1]) ? _min[1] : _max[1],
(pt[2] <= center[2]) ? _min[2] : _max[2]);
}
template<typename S>
SGVec3<T> getFarestCorner(const SGVec3<S>& pt) const
{
SGVec3<T> center = getCenter();
return SGVec3<T>((pt[0] > center[0]) ? _min[0] : _max[0],
(pt[1] > center[1]) ? _min[1] : _max[1],
(pt[2] > center[2]) ? _min[2] : _max[2]);
}
// Only works for floating point types
SGVec3<T> getCenter() const
{ return T(0.5)*(_min + _max); }
@@ -42,6 +79,8 @@ public:
// Only valid for nonempty boxes
SGVec3<T> getSize() const
{ return _max - _min; }
SGVec3<T> getHalfSize() const
{ return T(0.5)*getSize(); }
T getVolume() const
{
@@ -83,7 +122,7 @@ public:
// Note that this only works if the box is nonmepty
unsigned getBroadestAxis() const
{
SGVec3d size = getSize();
SGVec3<T> size = getSize();
if (size[1] <= size[0] && size[2] <= size[0])
return 0;
else if (size[2] <= size[1])
@@ -92,6 +131,18 @@ public:
return 2;
}
// Note that this only works if the box is nonmepty
unsigned getSmallestAxis() const
{
SGVec3<T> size = getSize();
if (size[1] >= size[0] && size[2] >= size[0])
return 0;
else if (size[2] >= size[1])
return 1;
else
return 2;
}
private:
SGVec3<T> _min;
SGVec3<T> _max;

56
simgear/math/SGIntersect.hxx
View File

@@ -20,7 +20,21 @@
template<typename T>
inline bool
intersects(const SGBox<T>& box, const SGSphere<T>& sphere)
intersects(const SGSphere<T>& s1, const SGSphere<T>& s2)
{
if (s1.empty())
return false;
if (s2.empty())
return false;
T dist = s1.getRadius() + s2.getRadius();
return distSqr(s1.getCenter(), s2.getCenter()) <= dist*dist;
}
template<typename T1, typename T2>
inline bool
intersects(const SGBox<T1>& box, const SGSphere<T2>& sphere)
{
if (sphere.empty())
return false;
@@ -45,15 +59,15 @@ intersects(const SGBox<T>& box, const SGSphere<T>& sphere)
return true;
}
// make it symmetric
template<typename T>
template<typename T1, typename T2>
inline bool
intersects(const SGSphere<T>& sphere, const SGBox<T>& box)
intersects(const SGSphere<T1>& sphere, const SGBox<T2>& box)
{ return intersects(box, sphere); }
template<typename T>
template<typename T1, typename T2>
inline bool
intersects(const SGVec3<T>& v, const SGBox<T>& box)
intersects(const SGVec3<T1>& v, const SGBox<T2>& box)
{
if (v[0] < box.getMin()[0])
return false;
@@ -69,9 +83,9 @@ intersects(const SGVec3<T>& v, const SGBox<T>& box)
return false;
return true;
}
template<typename T>
template<typename T1, typename T2>
inline bool
intersects(const SGBox<T>& box, const SGVec3<T>& v)
intersects(const SGBox<T1>& box, const SGVec3<T2>& v)
{ return intersects(v, box); }
@@ -529,7 +543,7 @@ template<typename T>
inline bool
intersects(const SGTriangle<T>& tri, const SGLineSegment<T>& lineSegment, T eps = 0)
{
// FIXME: for now just wrap the othr method. When that has prooven
// FIXME: for now just wrap the other method. When that has prooven
// well optimized, implement that special case
SGVec3<T> dummy;
return intersects(dummy, tri, lineSegment, eps);
@@ -557,9 +571,9 @@ intersects(const SGBox<T>& box, const SGLineSegment<T>& lineSegment)
// See Tomas Akeniene - Moeller/Eric Haines: Real Time Rendering
SGVec3<T> c = lineSegment.getCenter() - box.getCenter();
SGVec3<T> w = 0.5*lineSegment.getDirection();
SGVec3<T> w = T(0.5)*lineSegment.getDirection();
SGVec3<T> v(fabs(w.x()), fabs(w.y()), fabs(w.z()));
SGVec3<T> h = 0.5*box.getSize();
SGVec3<T> h = T(0.5)*box.getSize();
if (fabs(c[0]) > v[0] + h[0])
return false;
@@ -624,4 +638,26 @@ inline bool
intersects(const SGRay<T>& ray, const SGBox<T>& box)
{ return intersects(box, ray); }
template<typename T1, typename T2>
inline bool
intersects(const SGBox<T1>& box1, const SGBox<T2>& box2)
{
if (box2.getMax()[0] < box1.getMin()[0])
return false;
if (box1.getMax()[0] < box2.getMin()[0])
return false;
if (box2.getMax()[1] < box1.getMin()[1])
return false;
if (box1.getMax()[1] < box2.getMin()[1])
return false;
if (box2.getMax()[2] < box1.getMin()[2])
return false;
if (box1.getMax()[2] < box2.getMin()[2])
return false;
return true;
}
#endif

5
simgear/math/SGLineSegment.hxx
View File

@@ -27,6 +27,11 @@ public:
_start(start),
_direction(end - start)
{ }
template<typename S>
explicit SGLineSegment(const SGLineSegment<S>& lineSegment) :
_start(lineSegment.getStart()),
_direction(lineSegment.getDirection())
{ }
void set(const SGVec3<T>& start, const SGVec3<T>& end)
{ _start = start; _direction = end - start; }

14
simgear/math/SGMatrix.hxx
View File

@@ -184,16 +184,22 @@ public:
template<typename S>
SGMatrix& preMultTranslate(const SGVec3<S>& t)
{
for (unsigned i = 0; i < SGMatrix<T>::nCols-1; ++i)
(*this)(i,3) += T(t(i));
return *this;
for (unsigned i = 0; i < 3; ++i) {
T tmp = T(t(i));
if (tmp == 0)
continue;
(*this)(i,0) += tmp*(*this)(3,0);
(*this)(i,1) += tmp*(*this)(3,1);
(*this)(i,2) += tmp*(*this)(3,2);
(*this)(i,3) += tmp*(*this)(3,3);
}
}
template<typename S>
SGMatrix& postMultTranslate(const SGVec3<S>& t)
{
SGVec4<T> col3((*this)(0,3), (*this)(1,3), (*this)(2,3), (*this)(3,3));
for (unsigned i = 0; i < SGMatrix<T>::nCols-1; ++i) {
SGVec4<T> tmp((*this)(0,3), (*this)(1,3), (*this)(2,3), (*this)(3,3));
SGVec4<T> tmp((*this)(0,i), (*this)(1,i), (*this)(2,i), (*this)(3,i));
col3 += T(t(i))*tmp;
}
(*this)(0,3) = col3(0); (*this)(1,3) = col3(1);

17
simgear/math/SGPlane.hxx
View File

@@ -23,14 +23,25 @@ class SGPlane {
public:
SGPlane()
{ }
SGPlane(const SGVec3<T>& normal, T dist) :
SGPlane(const SGVec3<T>& normal, const T& dist) :
_normal(normal), _dist(dist)
{ }
SGPlane(const SGVec3<T>& normal, const SGVec3<T>& point) :
_normal(normal), _dist(-dot(normal, point))
{ }
SGPlane(const SGVec3<T> vertices[3]) :
_normal(normalize(cross(vertices[1] - vertices[0],
vertices[2] - vertices[0]))),
_dist(-dot(_normal, vertices[0]))
{ }
SGPlane(const SGVec3<T>& v0, const SGVec3<T>& v1, const SGVec3<T>& v2) :
_normal(normalize(cross(v1 - v0, v2 - v0))),
_dist(-dot(_normal, v0))
{ }
template<typename S>
explicit SGPlane(const SGPlane<S>& plane) :
_normal(plane.getNormal()), _dist(plane.getDist())
{ }
void setNormal(const SGVec3<T>& normal)
{ _normal = normal; }
@@ -42,6 +53,10 @@ public:
const T& getDist() const
{ return _dist; }
/// Return a point on the plane
SGVec3<T> getPointOnPlane() const
{ return -_dist*_normal; }
/// That is the distance where we measure positive in direction of the normal
T getPositiveDist() const
{ return -_dist; }

4
simgear/math/SGRay.hxx
View File

@@ -26,6 +26,10 @@ public:
SGRay(const SGVec3<T>& origin, const SGVec3<T>& dir) :
_origin(origin), _direction(dir)
{ }
template<typename S>
explicit SGRay(const SGRay<S>& ray) :
_origin(ray.getOrigin()), _direction(ray.getDirection())
{ }
void set(const SGVec3<T>& origin, const SGVec3<T>& dir)
{ _origin = origin; _direction = dir; }

66
simgear/math/SGSphere.hxx
View File

@@ -28,6 +28,11 @@ public:
_center(center),
_radius(radius)
{ }
template<typename S>
explicit SGSphere(const SGSphere<S>& sphere) :
_center(sphere.getCenter()),
_radius(sphere.getRadius())
{ }
const SGVec3<T>& getCenter() const
{ return _center; }
@@ -41,7 +46,7 @@ public:
T getRadius2() const
{ return _radius*_radius; }
const bool empty() const
bool empty() const
{ return !valid(); }
bool valid() const
@@ -68,6 +73,65 @@ public:
_radius = newRadius;
}
void expandBy(const SGSphere<T>& s)
{
if (s.empty())
return;
if (empty()) {
_center = s.getCenter();
_radius = s.getRadius();
return;
}
T dist = length(_center - s.getCenter());
if (dist <= SGLimits<T>::min()) {
_radius = SGMisc<T>::max(_radius, s._radius);
return;
}
// already included
if (dist + s.getRadius() <= _radius)
return;
// new one includes all
if (dist + _radius <= s.getRadius()) {
_center = s.getCenter();
_radius = s.getRadius();
return;
}
T newRadius = T(0.5)*(_radius + dist + s.getRadius());
T ratio = (newRadius - _radius) / dist;
_radius = newRadius;
_center[0] += ratio*(s._center[0] - _center[0]);
_center[1] += ratio*(s._center[1] - _center[1]);
_center[2] += ratio*(s._center[2] - _center[2]);
}
void expandBy(const SGBox<T>& box)
{
if (box.empty())
return;
if (empty()) {
_center = box.getCenter();
_radius = T(0.5)*length(box.getSize());
return;
}
SGVec3<T> boxCenter = box.getCenter();
SGVec3<T> corner;
for (unsigned i = 0; i < 3; ++i) {
if (_center[i] < boxCenter[i])
corner[i] = box.getMax()[i];
else
corner[i] = box.getMin()[i];
}
expandBy(corner);
}
private:
SGVec3<T> _center;
T _radius;

3
simgear/math/SGVec2.hxx
View File

@@ -96,6 +96,9 @@ public:
/// make sure it has at least 2 elements
explicit SGVec2(const T* d)
{ data()[0] = d[0]; data()[1] = d[1]; }
template<typename S>
explicit SGVec2(const SGVec2<S>& d)
{ data()[0] = d[0]; data()[1] = d[1]; }
explicit SGVec2(const osg::Vec2f& d)
{ data()[0] = d[0]; data()[1] = d[1]; }
explicit SGVec2(const osg::Vec2d& d)

3
simgear/math/SGVec3.hxx
View File

@@ -92,6 +92,9 @@ public:
/// make sure it has at least 3 elements
explicit SGVec3(const T* d)
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
template<typename S>
explicit SGVec3(const SGVec3<S>& d)
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
explicit SGVec3(const osg::Vec3f& d)
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; }
explicit SGVec3(const osg::Vec3d& d)

3
simgear/math/SGVec4.hxx
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@@ -92,6 +92,9 @@ public:
/// make sure it has at least 3 elements
explicit SGVec4(const T* d)
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
template<typename S>
explicit SGVec4(const SGVec4<S>& d)
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
explicit SGVec4(const osg::Vec4f& d)
{ data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
explicit SGVec4(const osg::Vec4d& d)