OpenWalnut 1.3.1
WBoundingBox.h
00001 //---------------------------------------------------------------------------
00002 //
00003 // Project: OpenWalnut ( http://www.openwalnut.org )
00004 //
00005 // Copyright 2009 OpenWalnut Community, BSV@Uni-Leipzig and CNCF@MPI-CBS
00006 // For more information see http://www.openwalnut.org/copying
00007 //
00008 // This file is part of OpenWalnut.
00009 //
00010 // OpenWalnut is free software: you can redistribute it and/or modify
00011 // it under the terms of the GNU Lesser General Public License as published by
00012 // the Free Software Foundation, either version 3 of the License, or
00013 // (at your option) any later version.
00014 //
00015 // OpenWalnut is distributed in the hope that it will be useful,
00016 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00017 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018 // GNU Lesser General Public License for more details.
00019 //
00020 // You should have received a copy of the GNU Lesser General Public License
00021 // along with OpenWalnut. If not, see <http://www.gnu.org/licenses/>.
00022 //
00023 //---------------------------------------------------------------------------
00024 
00025 #ifndef WBOUNDINGBOX_H
00026 #define WBOUNDINGBOX_H
00027 
00028 #include <ostream>
00029 #include <iomanip> // for setprecision
00030 #include <cmath>   // std::sqrt
00031 
00032 #include <osg/BoundingBox>
00033 
00034 #include "exceptions/WInvalidBoundingBox.h"
00035 //#include "math/linearAlgebra/WLinearAlgebra.h"
00036 
00037 /**
00038  * Represents a \e axis \e parallel bounding box and provides some useful operations with them.
00039  *
00040  * \note Reason for subclassing: We don't want \c _min and \c _max member variables to be public.
00041  * \note Reason for not having a \e private osg::BoundingBox member is, we don't have to wrap many
00042  * member functions and can make use of the using directive. A downside on this is, we cannot
00043  * automatical cast to osg::BoundingBox even if we provide a cast operator! Hence when we need this
00044  * we will provide a toOsgBB() member function.
00045  */
00046 template< class VT >
00047 class WBoundingBoxImpl : private osg::BoundingBoxImpl< VT >
00048 {
00049 public:
00050     /**
00051      * Vertex type for min and max positions of this box.
00052      */
00053     typedef typename osg::BoundingBoxImpl< VT >::vec_type vec_type;
00054 
00055     /**
00056      * Value type of the vertex type for example double, float, etc.
00057      */
00058     typedef typename osg::BoundingBoxImpl< VT >::value_type value_type;
00059 
00060     /**
00061      * Default constructor.
00062      */
00063     WBoundingBoxImpl();
00064 
00065     /**
00066      * Wrapps the component wise bounding box constructor from osg::BoundingBox.
00067      *
00068      * \param xmin Minimal x coordinate
00069      * \param ymin Minimal y coordinate
00070      * \param zmin Minimal z coordinate
00071      * \param xmax Maximal x coordinate
00072      * \param ymax Maximal y coordinate
00073      * \param zmax Maximal z coordinate
00074      */
00075     WBoundingBoxImpl( value_type xmin, value_type ymin, value_type zmin, value_type xmax, value_type ymax, value_type zmax );
00076 
00077     /**
00078      * Constructs a bounding box by min and max positions.
00079      *
00080      * \param min Position containing minx miny and minz coordinates.
00081      * \param max Position containing maxx maxy and maxz coordinates.
00082      */
00083     WBoundingBoxImpl( const vec_type& min, const vec_type& max );
00084 
00085     /**
00086      * Destructs this instance.
00087      */
00088     virtual ~WBoundingBoxImpl();
00089 
00090     /**
00091      * Resets this box to an initial state where max is FLT_MIN and min FLT_MAX.
00092      *
00093      * \note This is a wrapper call to osg::BoundingBoxImpl< VT >::init()
00094      */
00095     void reset();
00096 
00097     using osg::BoundingBoxImpl< VT >::valid;
00098     using osg::BoundingBoxImpl< VT >::set;
00099     using osg::BoundingBoxImpl< VT >::xMin;
00100     using osg::BoundingBoxImpl< VT >::yMin;
00101     using osg::BoundingBoxImpl< VT >::zMin;
00102     using osg::BoundingBoxImpl< VT >::xMax;
00103     using osg::BoundingBoxImpl< VT >::yMax;
00104     using osg::BoundingBoxImpl< VT >::zMax;
00105     using osg::BoundingBoxImpl< VT >::center;
00106     using osg::BoundingBoxImpl< VT >::radius;
00107 
00108     /**
00109      * Calculates and returns the squared length of the bounding box radius.
00110      *
00111      * \note This is a wrapper call to osg::BoundingBoxImpl< VT >::radius2()
00112      *
00113      * \return squared bbox radius
00114      */
00115     value_type radiusSquare() const;
00116 
00117     using osg::BoundingBoxImpl< VT >::corner;
00118 
00119     /**
00120      * Explicit type conversion function to use a WBoundingBox as osg::BoundingBox.
00121      *
00122      * \return A copy of this bounding box as osg::BoundingBox.
00123      */
00124     osg::BoundingBox toOSGBB() const;
00125 
00126     using osg::BoundingBoxImpl< VT >::expandBy;
00127 
00128     /**
00129      * Expands this bounding box to include the given bounding box.
00130      *
00131      * \param bb The other bounding box.
00132      */
00133     void expandBy( const WBoundingBoxImpl< VT > &bb );
00134 
00135     /**
00136      * Checks for intersection of this bounding box with the specified bounding box.
00137      *
00138      * \param bb The other bouding box to tetst with.
00139      *
00140      * \return True if they intersect, false otherwise.
00141      */
00142     bool intersects( const WBoundingBoxImpl< VT > &bb ) const;
00143 
00144     /**
00145      * Computes the minimal distance of tow axis parallel bounding boxes.
00146      *
00147      * \param bb The other bounding box.
00148      *
00149      * \return Zero if they intersect, otherwise their minimal distance.
00150      */
00151     value_type minDistance( const WBoundingBoxImpl< VT > &bb ) const;
00152 
00153     using osg::BoundingBoxImpl< VT >::contains;
00154 
00155     /**
00156      * Gives the front lower left aka minimum corner.
00157      *
00158      * \return Minimum corner.
00159      */
00160     const vec_type& getMin() const;
00161 
00162     /**
00163      * Gives the back upper right aka maximum corner.
00164      *
00165      * \return Maximum corner.
00166      */
00167     const vec_type& getMax() const;
00168 
00169 protected:
00170 private:
00171 };
00172 
00173 template< class VT >
00174 inline WBoundingBoxImpl< VT >::WBoundingBoxImpl()
00175     : osg::BoundingBoxImpl< VT >()
00176 {
00177 }
00178 
00179 template< class VT >
00180 inline WBoundingBoxImpl< VT >::WBoundingBoxImpl( value_type xmin, value_type ymin, value_type zmin, value_type xmax, value_type ymax, value_type zmax ) // NOLINT line length
00181     : osg::BoundingBoxImpl< VT >( xmin, ymin, zmin, xmax, ymax, zmax )
00182 {
00183 }
00184 
00185 template< class VT >
00186 inline WBoundingBoxImpl< VT >::WBoundingBoxImpl( const vec_type& min, const vec_type& max )
00187     : osg::BoundingBoxImpl< VT >( min, max )
00188 {
00189 }
00190 
00191 template< class VT >
00192 inline WBoundingBoxImpl< VT >::~WBoundingBoxImpl()
00193 {
00194 }
00195 
00196 template< class VT >
00197 inline void WBoundingBoxImpl< VT >::reset()
00198 {
00199     this->init();
00200 }
00201 
00202 template< class VT >
00203 inline typename WBoundingBoxImpl< VT >::value_type WBoundingBoxImpl< VT >::radiusSquare() const
00204 {
00205     return this->raidus2();
00206 }
00207 
00208 template< class VT >
00209 inline osg::BoundingBox WBoundingBoxImpl< VT >::toOSGBB() const
00210 {
00211     return osg::BoundingBox( osg::BoundingBoxImpl< VT >::_min, osg::BoundingBoxImpl< VT >::_max );
00212 }
00213 
00214 template< class VT >
00215 inline void WBoundingBoxImpl< VT >::expandBy( const WBoundingBoxImpl< VT > &bb )
00216 {
00217     osg::BoundingBoxImpl< VT >::expandBy( bb );
00218 }
00219 
00220 template< class VT >
00221 inline bool WBoundingBoxImpl< VT >::intersects( const WBoundingBoxImpl< VT > &bb ) const
00222 {
00223     return osg::BoundingBoxImpl< VT >::intersects( bb );
00224 }
00225 
00226 /**
00227  * Anonymous namespace, just to be DRY in minDistance.
00228  */
00229 namespace
00230 {
00231     /**
00232      * Checks if the two given intervals intersect and computes the distance between them.
00233      *
00234      * \param a0 lower bound of the first interval
00235      * \param a1 upper bound of the first interval
00236      * \param b0 lower bound of the second interval
00237      * \param b1 upper bound if the second interval
00238      *
00239      * \return The distance between those intervals if they don't overlap, zero otherwise
00240      */
00241     inline double intervalDistance( double a0, double a1, double b0, double b1 )
00242     {
00243         if( a1 < b0 )
00244         {
00245             return b0 - a1;
00246         }
00247         else if( b1 < a0 )
00248         {
00249             return a0 - b1;
00250         }
00251         return 0.0;
00252     }
00253 }
00254 
00255 template< class VT >
00256 inline typename WBoundingBoxImpl< VT >::value_type WBoundingBoxImpl< VT >::minDistance( const WBoundingBoxImpl< VT > &bb ) const
00257 {
00258     // test if they are valid
00259     if( !valid() || !bb.valid() )
00260     {
00261         throw WInvalidBoundingBox( "One of the both bounding boxes inside minDistance computation is not valid." );
00262     }
00263 
00264     double dx = intervalDistance( xMin(), xMax(), bb.xMin(), bb.xMax() );
00265     double dy = intervalDistance( yMin(), yMax(), bb.yMin(), bb.yMax() );
00266     double dz = intervalDistance( zMin(), zMax(), bb.zMin(), bb.zMax() );
00267     if( dx == 0.0 && dy == 0.0 && dz == 0.0 )
00268     {
00269         return 0.0;
00270     }
00271     return std::sqrt( dx * dx + dy * dy + dz * dz );
00272 }
00273 
00274 /**
00275  * Output operator for the WBoundingBoxImpl class.
00276  *
00277  * \param out Output stream operator
00278  * \param bb The box which should be streamed out
00279  *
00280  * \return reference to the output stream
00281  */
00282 template< class VT >
00283 inline std::ostream& operator<<( std::ostream& out, const WBoundingBoxImpl< VT >& bb )
00284 {
00285     out << std::scientific << std::setprecision( 16 );
00286     out << "AABB( min: " << bb.xMin() << ", " << bb.yMin() << ", " << bb.zMin();
00287     out << " max: " << bb.xMax() << ", " << bb.yMax() << ", " << bb.zMax() << " )";
00288     return out;
00289 }
00290 
00291 template< class VT >
00292 inline const typename WBoundingBoxImpl< VT >::vec_type& WBoundingBoxImpl< VT >::getMin() const
00293 {
00294     return  osg::BoundingBoxImpl< VT >::_min;
00295 }
00296 
00297 template< class VT >
00298 inline const typename WBoundingBoxImpl< VT >::vec_type& WBoundingBoxImpl< VT >::getMax() const
00299 {
00300     return  osg::BoundingBoxImpl< VT >::_max;
00301 }
00302 
00303 typedef WBoundingBoxImpl< osg::Vec3 > WBoundingBox;
00304 
00305 #endif  // WBOUNDINGBOX_H