Defines an axis aligned bounding box. More...

#include <SLAABBox.h>

Public Member Functions
	SLAABBox ()
	Default constructor with default zero vector initialization. More...

void	minWS (const SLVec3f &minC)

void	maxWS (const SLVec3f &maxC)

void	minOS (const SLVec3f &minC)

void	maxOS (const SLVec3f &maxC)

void	isVisible (SLbool visible)

void	sqrViewDist (SLfloat sqrVD)

SLVec3f	minWS ()

SLVec3f	maxWS ()

SLVec3f	centerWS ()

SLfloat	radiusWS ()

SLVec3f	minOS ()

SLVec3f	maxOS ()

SLVec3f	centerOS ()

SLfloat	radiusOS ()

SLbool	isVisible ()

SLfloat	sqrViewDist ()

SLRectf &	rectSS ()

void	reset ()
	Resets initial state without contents. More...

void	fromOStoWS (const SLVec3f &minOS, const SLVec3f &maxOS, const SLMat4f &wm)
	Recalculate min and max after transformation in world coords. More...

void	fromWStoOS (const SLVec3f &minWS, const SLVec3f &maxWS, const SLMat4f &wmI)
	Recalculate min and max before transformation in object coords. More...

void	updateAxisWS (const SLMat4f &wm)
	Updates the axis of the owning node. More...

void	updateBoneWS (const SLMat4f &parentWM, SLbool isRoot, const SLMat4f &nodeWM)
	Updates joints axis and the bone line from the parent to us. More...

void	mergeWS (SLAABBox &bb)
	Merges the bounding box bb to this one by extending this one axis aligned. More...

void	drawWS (const SLCol4f &color)
	Draws the AABB in world space with lines in a color. More...

void	drawAxisWS ()
	Draws the axis in world space with lines in a color. More...

void	drawBoneWS ()
	Draws the joint axis and the parent bone in world space. More...

void	setCenterAndRadiusWS ()
	Calculates center & radius of the bounding sphere around the AABB. More...

void	generateVAO ()
	Generates the vertex buffer for the line visualization. More...

SLbool	isHitInOS (SLRay *ray)
	SLAABBox::isHitInWS: Ray - AABB Intersection Test in object space. More...

SLbool	isHitInWS (SLRay *ray)
	SLAABBox::isHitInWS: Ray - AABB Intersection Test in world space. More...

void	calculateRectSS ()
	Calculates the AABBs min. and max. corners in screen space. More...

SLfloat	rectCoverageInSS ()
	Calculates the bounding rectangle in screen space and returns coverage in SS. More...

Private Attributes
SLVec3f	_minWS
	Min. corner in world space. More...

SLVec3f	_minOS
	Min. corner in object space. More...

SLVec3f	_maxWS
	Max. corner in world space. More...

SLVec3f	_maxOS
	Max. corner in object space. More...

SLVec3f	_centerWS
	Center of AABB in world space. More...

SLVec3f	_centerOS
	Center of AABB in object space. More...

SLfloat	_radiusWS
	Radius of sphere around AABB in WS. More...

SLfloat	_radiusOS
	Radius of sphere around AABB in OS. More...

SLfloat	_sqrViewDist
	Squared dist. from center to viewpoint. More...

SLVec3f	_axis0WS
	World space axis center point. More...

SLVec3f	_axisXWS
	World space x-axis vector. More...

SLVec3f	_axisYWS
	World space y-axis vector. More...

SLVec3f	_axisZWS
	World space z-axis vector. More...

SLbool	_boneIsOffset
	Flag if the connection parent to us is a bone or an offset. More...

SLVec3f	_parent0WS
	World space vector to the parent position. More...

SLbool	_isVisible
	Flag if AABB is in the view frustum. More...

SLRectf	_rectSS
	Bounding rectangle in screen space. More...

SLGLVertexArrayExt	_vao
	Vertex array object for rendering. More...

Detailed Description

Defines an axis aligned bounding box.

The SLAABBox class defines an axis aligned bounding box with a minimal and maximal point. Each node (SLNode) will have an AABB the will be calculated in buildAABB. A mesh (SLMesh) will implement buildAABB and calculate the minimal and maximal coordinates in object space (stored in _minOS and _maxOS). For a fast ray-AABB intersection in world space we transform _minOS and _maxOS into world space (with the shapes world matrix) and store it in _minWS and _maxWS. For an even faster intersection test with the plane of the view frustum we calculate in addition the bounding sphere around the AABB. The radius and the center point are stored in _radiusOS/_centerOS and _radiusWS/_centerWS.

Definition at line 33 of file SLAABBox.h.

Constructor & Destructor Documentation

◆ SLAABBox()

SLAABBox::SLAABBox ( )

Default constructor with default zero vector initialization.

Definition at line 17 of file SLAABBox.cpp.

 {
     reset();
 }

Member Function Documentation

◆ calculateRectSS()

void SLAABBox::calculateRectSS ( )

Calculates the AABBs min. and max. corners in screen space.

Definition at line 400 of file SLAABBox.cpp.

 {
     SLVec3f corners[8];
  
     // Back corners in world space
     corners[0] = _minWS;
     corners[1] = SLVec3f(_maxWS.x, _minWS.y, _minWS.z);
     corners[2] = SLVec3f(_minWS.x, _maxWS.y, _minWS.z);
     corners[3] = SLVec3f(_maxWS.x, _maxWS.y, _minWS.z);
  
     // Front corners in world space
     corners[4] = SLVec3f(_minWS.x, _minWS.y, _maxWS.z);
     corners[5] = SLVec3f(_maxWS.x, _minWS.y, _maxWS.z);
     corners[6] = SLVec3f(_minWS.x, _maxWS.y, _maxWS.z);
     corners[7] = _maxWS;
  
     // build view-projection-viewport matrix
     SLGLState* stateGL = SLGLState::instance();
     SLMat4f    vpvpMat = stateGL->viewportMatrix() *
                       stateGL->projectionMatrix *
                       stateGL->viewMatrix;
  
     // transform corners from world to screen space
     for (SLint i = 0; i < 8; ++i)
         corners[i] = vpvpMat.multVec(corners[i]);
  
     // Build min. and max. in screen space
     SLVec2f minSS(FLT_MAX, FLT_MAX);
     SLVec2f maxSS(FLT_MIN, FLT_MIN);
  
     for (SLint i = 0; i < 8; ++i)
     {
         minSS.x = std::min(minSS.x, corners[i].x);
         minSS.y = std::min(minSS.y, corners[i].y);
         maxSS.x = std::max(maxSS.x, corners[i].x);
         maxSS.y = std::max(maxSS.y, corners[i].y);
     }
  
     _rectSS.set(minSS.x,
                 minSS.y,
                 maxSS.x - minSS.x,
                 maxSS.y - minSS.y);
     //_rectSS.print("_rectSS: ");
 }

◆ centerOS()

SLVec3f SLAABBox::centerOS ( )

inline

Definition at line 54 of file SLAABBox.h.

54 { return _centerOS; }

SLAABBox::_centerOS

SLVec3f _centerOS

Center of AABB in object space.

Definition: SLAABBox.h:89

◆ centerWS()

SLVec3f SLAABBox::centerWS ( )

inline

Definition at line 50 of file SLAABBox.h.

50 { return _centerWS; }

SLAABBox::_centerWS

SLVec3f _centerWS

Center of AABB in world space.

Definition: SLAABBox.h:88

◆ drawAxisWS()

void SLAABBox::drawAxisWS ( )

Draws the axis in world space with lines in a color.

Definition at line 271 of file SLAABBox.cpp.

 {
     if (!_vao.vaoID()) generateVAO();
     _vao.drawArrayAsColored(PT_lines,
                             SLCol4f::RED,
                             2.0f,
                             24,
                             2);
     _vao.drawArrayAsColored(PT_lines,
                             SLCol4f::GREEN,
                             2.0f,
                             26,
                             2);
     _vao.drawArrayAsColored(PT_lines,
                             SLCol4f::BLUE,
                             2.0f,
                             28,
                             2);
 }

◆ drawBoneWS()

void SLAABBox::drawBoneWS ( )

Draws the joint axis and the parent bone in world space.

The joints x-axis is drawn in red, the y-axis in green and the z-axis in blue. If the parent displacement is a bone it is drawn in yellow, if it is a an offset displacement in magenta. See also SLAABBox::updateBoneWS.

Definition at line 296 of file SLAABBox.cpp.

 {
     if (!_vao.vaoID()) generateVAO();
     _vao.drawArrayAsColored(PT_lines,
                             SLCol4f::RED,
                             2.0f,
                             24,
                             2);
     _vao.drawArrayAsColored(PT_lines,
                             SLCol4f::GREEN,
                             2.0f,
                             26,
                             2);
     _vao.drawArrayAsColored(PT_lines,
                             SLCol4f::BLUE,
                             2.0f,
                             28,
                             2);
  
     // draw either an offset line or a bone line as the parent
     if (!_boneIsOffset)
         _vao.drawArrayAsColored(PT_lines,
                                 SLCol4f::YELLOW,
                                 1.0f,
                                 30,
                                 2);
     else
         _vao.drawArrayAsColored(PT_lines,
                                 SLCol4f::MAGENTA,
                                 1.0f,
                                 30,
                                 2);
 }

◆ drawWS()

void SLAABBox::drawWS ( const SLCol4f & color )

Draws the AABB in world space with lines in a color.

Definition at line 260 of file SLAABBox.cpp.

 {
     if (!_vao.vaoID()) generateVAO();
     _vao.drawArrayAsColored(PT_lines,
                             color,
                             1.0f,
                             0,
                             24);
 }

◆ fromOStoWS()

void SLAABBox::fromOStoWS	(	const SLVec3f &	minOS,
		const SLVec3f &	maxOS,
		const SLMat4f &	wm
	)

Recalculate min and max after transformation in world coords.

Definition at line 46 of file SLAABBox.cpp.

 {
     // Do not transform empty AABB (such as from the camera)
     if (minOS == SLVec3f::ZERO && maxOS == SLVec3f::ZERO)
         return;
  
     _minOS.set(minOS);
     _maxOS.set(maxOS);
     _minWS.set(minOS);
     _maxWS.set(maxOS);
  
     // we need to transform all 8 corners for a non-optimal bounding box
     SLVec3f vCorner[8];
     SLint   i;
  
     vCorner[0].set(_minWS);
     vCorner[1].set(_maxWS.x, _minWS.y, _minWS.z);
     vCorner[2].set(_maxWS.x, _minWS.y, _maxWS.z);
     vCorner[3].set(_minWS.x, _minWS.y, _maxWS.z);
     vCorner[4].set(_maxWS.x, _maxWS.y, _minWS.z);
     vCorner[5].set(_minWS.x, _maxWS.y, _minWS.z);
     vCorner[6].set(_minWS.x, _maxWS.y, _maxWS.z);
     vCorner[7].set(_maxWS);
  
     // apply world transform
     for (i = 0; i < 8; ++i)
         vCorner[i] = wm.multVec(vCorner[i]);
  
     // sets the minimum and maximum of the vertex components of the 8 corners
     _minWS.set(vCorner[0]);
     _maxWS.set(vCorner[0]);
     for (i = 1; i < 8; ++i)
     {
         _minWS.setMin(vCorner[i]);
         _maxWS.setMax(vCorner[i]);
     }
  
     // set coordinate axis in world space
     _axis0WS = wm.multVec(SLVec3f::ZERO);
     _axisXWS = wm.multVec(SLVec3f::AXISX);
     _axisYWS = wm.multVec(SLVec3f::AXISY);
     _axisZWS = wm.multVec(SLVec3f::AXISZ);
  
     // Delete OpenGL vertex array
     if (_vao.vaoID()) _vao.clearAttribs();
 }

◆ fromWStoOS()

void SLAABBox::fromWStoOS	(	const SLVec3f &	minWS,
		const SLVec3f &	maxWS,
		const SLMat4f &	wmI
	)

Recalculate min and max before transformation in object coords.

Definition at line 96 of file SLAABBox.cpp.

 {
     _minOS.set(minWS);
     _maxOS.set(maxWS);
     _minWS.set(minWS);
     _maxWS.set(maxWS);
  
     // we need to transform all 8 corners for a non-optimal bounding box
     SLVec3f vCorner[8];
     SLint   i;
  
     vCorner[0].set(_minOS);
     vCorner[1].set(_maxOS.x, _minOS.y, _minOS.z);
     vCorner[2].set(_maxOS.x, _minOS.y, _maxOS.z);
     vCorner[3].set(_minOS.x, _minOS.y, _maxOS.z);
     vCorner[4].set(_maxOS.x, _maxOS.y, _minOS.z);
     vCorner[5].set(_minOS.x, _maxOS.y, _minOS.z);
     vCorner[6].set(_minOS.x, _maxOS.y, _maxOS.z);
     vCorner[7].set(_maxOS);
  
     // apply world transform
     for (i = 0; i < 8; ++i)
         vCorner[i] = wmI.multVec(vCorner[i]);
  
     // sets the minimum and maximum of the vertex components of the 8 corners
     _minOS.set(vCorner[0]);
     _maxOS.set(vCorner[0]);
     for (i = 1; i < 8; ++i)
     {
         _minOS.setMin(vCorner[i]);
         _maxOS.setMax(vCorner[i]);
     }
  
     // Delete OpenGL vertex array
     if (_vao.vaoID()) _vao.clearAttribs();
  
     // Set center & radius of the bounding sphere around the AABB
     _centerOS.set((_minOS + _maxOS) * 0.5f);
     SLVec3f extent(_maxOS - _centerOS);
     _radiusOS = extent.length();
 }

◆ generateVAO()

void SLAABBox::generateVAO ( )

Generates the vertex buffer for the line visualization.

Definition at line 212 of file SLAABBox.cpp.

 {
     SLVVec3f P; // vertex positions
  
     // Bounding box lines in world space
     P.push_back(SLVec3f(_minWS.x, _minWS.y, _minWS.z)); // lower rect
     P.push_back(SLVec3f(_maxWS.x, _minWS.y, _minWS.z));
     P.push_back(SLVec3f(_maxWS.x, _minWS.y, _minWS.z));
     P.push_back(SLVec3f(_maxWS.x, _minWS.y, _maxWS.z));
     P.push_back(SLVec3f(_maxWS.x, _minWS.y, _maxWS.z));
     P.push_back(SLVec3f(_minWS.x, _minWS.y, _maxWS.z));
     P.push_back(SLVec3f(_minWS.x, _minWS.y, _maxWS.z));
     P.push_back(SLVec3f(_minWS.x, _minWS.y, _minWS.z));
  
     P.push_back(SLVec3f(_minWS.x, _maxWS.y, _minWS.z)); // upper rect
     P.push_back(SLVec3f(_maxWS.x, _maxWS.y, _minWS.z));
     P.push_back(SLVec3f(_maxWS.x, _maxWS.y, _minWS.z));
     P.push_back(SLVec3f(_maxWS.x, _maxWS.y, _maxWS.z));
     P.push_back(SLVec3f(_maxWS.x, _maxWS.y, _maxWS.z));
     P.push_back(SLVec3f(_minWS.x, _maxWS.y, _maxWS.z));
     P.push_back(SLVec3f(_minWS.x, _maxWS.y, _maxWS.z));
  
     P.push_back(SLVec3f(_minWS.x, _maxWS.y, _minWS.z)); // vertical lines
     P.push_back(SLVec3f(_minWS.x, _minWS.y, _minWS.z));
     P.push_back(SLVec3f(_minWS.x, _maxWS.y, _minWS.z));
     P.push_back(SLVec3f(_maxWS.x, _minWS.y, _minWS.z));
     P.push_back(SLVec3f(_maxWS.x, _maxWS.y, _minWS.z));
     P.push_back(SLVec3f(_maxWS.x, _minWS.y, _maxWS.z));
     P.push_back(SLVec3f(_maxWS.x, _maxWS.y, _maxWS.z));
     P.push_back(SLVec3f(_minWS.x, _minWS.y, _maxWS.z));
     P.push_back(SLVec3f(_minWS.x, _maxWS.y, _maxWS.z)); // 24
  
     // Axis lines in world space
     P.push_back(SLVec3f(_axis0WS.x, _axis0WS.y, _axis0WS.z)); // x-axis
     P.push_back(SLVec3f(_axisXWS.x, _axisXWS.y, _axisXWS.z));
     P.push_back(SLVec3f(_axis0WS.x, _axis0WS.y, _axis0WS.z)); // y-axis
     P.push_back(SLVec3f(_axisYWS.x, _axisYWS.y, _axisYWS.z));
     P.push_back(SLVec3f(_axis0WS.x, _axis0WS.y, _axis0WS.z)); // z-axis
     P.push_back(SLVec3f(_axisZWS.x, _axisZWS.y, _axisZWS.z)); // 30
  
     // Bone points in world space
     P.push_back(SLVec3f(_parent0WS.x, _parent0WS.y, _parent0WS.z));
     P.push_back(SLVec3f(_axis0WS.x, _axis0WS.y, _axis0WS.z));
  
     _vao.generateVertexPos(&P);
 }

◆ isHitInOS()

SLbool SLAABBox::isHitInOS ( SLRay * ray )

SLAABBox::isHitInWS: Ray - AABB Intersection Test in object space.

Definition at line 331 of file SLAABBox.cpp.

 {
     // See: "An Efficient and Robust Ray Box Intersection Algorithm"
     // by Amy L. Williams, Steve Barrus, R. Keith Morley, Peter Shirley
     // This test is about 10% faster than the test from Woo
     // It need the pre computed values invDir and sign in SLRay
  
     SLVec3f params[2] = {_minOS, _maxOS};
     SLfloat tymin, tymax, tzmin, tzmax;
  
     ray->tmin = (params[ray->signOS[0]].x - ray->originOS.x) * ray->invDirOS.x;
     ray->tmax = (params[1 - ray->signOS[0]].x - ray->originOS.x) * ray->invDirOS.x;
     tymin     = (params[ray->signOS[1]].y - ray->originOS.y) * ray->invDirOS.y;
     tymax     = (params[1 - ray->signOS[1]].y - ray->originOS.y) * ray->invDirOS.y;
  
     if ((ray->tmin > tymax) || (tymin > ray->tmax)) return false;
     if (tymin > ray->tmin) ray->tmin = tymin;
     if (tymax < ray->tmax) ray->tmax = tymax;
  
     tzmin = (params[ray->signOS[2]].z - ray->originOS.z) * ray->invDirOS.z;
     tzmax = (params[1 - ray->signOS[2]].z - ray->originOS.z) * ray->invDirOS.z;
  
     if ((ray->tmin > tzmax) || (tzmin > ray->tmax)) return false;
     if (tzmin > ray->tmin) ray->tmin = tzmin;
     if (tzmax < ray->tmax) ray->tmax = tzmax;
  
     return ((ray->tmin < ray->length) && (ray->tmax > 0));
 }

◆ isHitInWS()

SLbool SLAABBox::isHitInWS ( SLRay * ray )

SLAABBox::isHitInWS: Ray - AABB Intersection Test in world space.

Definition at line 361 of file SLAABBox.cpp.

 {
     // See: "An Efficient and Robust Ray Box Intersection Algorithm"
     // by Amy L. Williams, Steve Barrus, R. Keith Morley, Peter Shirley
     // This test is about 10% faster than the test from Woo
     // It needs the pre-computed values invDir and sign in SLRay
     SLVec3f params[2] = {_minWS, _maxWS};
     SLfloat tymin, tymax, tzmin, tzmax;
  
     ray->tmin = (params[ray->sign[0]].x - ray->origin.x) * ray->invDir.x;
     ray->tmax = (params[1 - ray->sign[0]].x - ray->origin.x) * ray->invDir.x;
     tymin     = (params[ray->sign[1]].y - ray->origin.y) * ray->invDir.y;
     tymax     = (params[1 - ray->sign[1]].y - ray->origin.y) * ray->invDir.y;
  
     if ((ray->tmin > tymax) || (tymin > ray->tmax)) return false;
     if (tymin > ray->tmin) ray->tmin = tymin;
     if (tymax < ray->tmax) ray->tmax = tymax;
  
     tzmin = (params[ray->sign[2]].z - ray->origin.z) * ray->invDir.z;
     tzmax = (params[1 - ray->sign[2]].z - ray->origin.z) * ray->invDir.z;
  
     if ((ray->tmin > tzmax) || (tzmin > ray->tmax)) return false;
     if (tzmin > ray->tmin) ray->tmin = tzmin;
     if (tzmax < ray->tmax) ray->tmax = tzmax;
  
     return ((ray->tmin < ray->length) && (ray->tmax > 0));
 }

◆ isVisible() [1/2]

SLbool SLAABBox::isVisible ( )

inline

Definition at line 56 of file SLAABBox.h.

56 { return _isVisible; }

SLAABBox::_isVisible

SLbool _isVisible

Flag if AABB is in the view frustum.

Definition: SLAABBox.h:99

◆ isVisible() [2/2]

void SLAABBox::isVisible ( SLbool visible )

inline

Definition at line 44 of file SLAABBox.h.

44 { _isVisible = visible; }

◆ maxOS() [1/2]

SLVec3f SLAABBox::maxOS ( )

inline

Definition at line 53 of file SLAABBox.h.

53 { return _maxOS; }

◆ maxOS() [2/2]

void SLAABBox::maxOS ( const SLVec3f & maxC )

inline

Definition at line 42 of file SLAABBox.h.

42 { _maxOS = maxC; }

◆ maxWS() [1/2]

SLVec3f SLAABBox::maxWS ( )

inline

Definition at line 49 of file SLAABBox.h.

49 { return _maxWS; }

◆ maxWS() [2/2]

void SLAABBox::maxWS ( const SLVec3f & maxC )

inline

Definition at line 40 of file SLAABBox.h.

40 { _maxWS = maxC; }

◆ mergeWS()

void SLAABBox::mergeWS ( SLAABBox & bb )

Merges the bounding box bb to this one by extending this one axis aligned.

Definition at line 390 of file SLAABBox.cpp.

 {
     if (bb.minWS() != SLVec3f::ZERO && bb.maxWS() != SLVec3f::ZERO)
     {
         _minWS.setMin(bb.minWS());
         _maxWS.setMax(bb.maxWS());
     }
 }

◆ minOS() [1/2]

SLVec3f SLAABBox::minOS ( )

inline

Definition at line 52 of file SLAABBox.h.

52 { return _minOS; }

◆ minOS() [2/2]

void SLAABBox::minOS ( const SLVec3f & minC )

inline

Definition at line 41 of file SLAABBox.h.

41 { _minOS = minC; }

◆ minWS() [1/2]

SLVec3f SLAABBox::minWS ( )

inline

Definition at line 48 of file SLAABBox.h.

48 { return _minWS; }

◆ minWS() [2/2]

void SLAABBox::minWS ( const SLVec3f & minC )

inline

Definition at line 39 of file SLAABBox.h.

39 { _minWS = minC; }

◆ radiusOS()

SLfloat SLAABBox::radiusOS ( )

inline

Definition at line 55 of file SLAABBox.h.

55 { return _radiusOS; }

◆ radiusWS()

SLfloat SLAABBox::radiusWS ( )

inline

Definition at line 51 of file SLAABBox.h.

51 { return _radiusWS; }

SLAABBox::_radiusWS

SLfloat _radiusWS

Radius of sphere around AABB in WS.

Definition: SLAABBox.h:90

◆ rectCoverageInSS()

SLfloat SLAABBox::rectCoverageInSS ( )

Calculates the bounding rectangle in screen space and returns coverage in SS.

Definition at line 446 of file SLAABBox.cpp.

 {
     calculateRectSS();
  
     SLGLState* stateGL        = SLGLState::instance();
     SLfloat    areaSS         = _rectSS.width * _rectSS.height;
     SLVec4i    vp             = stateGL->viewport();
     SLfloat    areaFullScreen = (float)vp.z * (float)vp.w;
     SLfloat    coverage       = areaSS / areaFullScreen;
     return coverage;
 }

◆ rectSS()

SLRectf& SLAABBox::rectSS ( )

inline

Definition at line 58 of file SLAABBox.h.

58 { return _rectSS; }

◆ reset()

void SLAABBox::reset ( )

Resets initial state without contents.

Definition at line 23 of file SLAABBox.cpp.

 {
     _minWS    = SLVec3f::ZERO;
     _maxWS    = SLVec3f::ZERO;
     _centerWS = SLVec3f::ZERO;
     _radiusWS = 0;
  
     _minOS    = SLVec3f::ZERO;
     _maxOS    = SLVec3f::ZERO;
     _centerOS = SLVec3f::ZERO;
     _radiusOS = 0;
  
     _sqrViewDist = 0;
     _axis0WS     = SLVec3f::ZERO;
     _axisXWS     = SLVec3f::ZERO;
     _axisYWS     = SLVec3f::ZERO;
     _axisZWS     = SLVec3f::ZERO;
     _isVisible   = true;
  
     _rectSS.setZero();
 }

◆ setCenterAndRadiusWS()

void SLAABBox::setCenterAndRadiusWS ( )

Calculates center & radius of the bounding sphere around the AABB.

Definition at line 204 of file SLAABBox.cpp.

 {
     _centerWS.set((_minWS + _maxWS) * 0.5f);
     SLVec3f ext(_maxWS - _centerWS);
     _radiusWS = ext.length();
 }

◆ sqrViewDist() [1/2]

SLfloat SLAABBox::sqrViewDist ( )

inline

Definition at line 57 of file SLAABBox.h.

57 { return _sqrViewDist; }

◆ sqrViewDist() [2/2]

void SLAABBox::sqrViewDist ( SLfloat sqrVD )

inline

Definition at line 45 of file SLAABBox.h.

45 { _sqrViewDist = sqrVD; }

◆ updateAxisWS()

void SLAABBox::updateAxisWS ( const SLMat4f & wm )

Updates the axis of the owning node.

Definition at line 141 of file SLAABBox.cpp.

 {
     // set coordinate axis in world space
     _axis0WS = wm.multVec(SLVec3f::ZERO);
     _axisXWS = wm.multVec(SLVec3f::AXISX);
     _axisYWS = wm.multVec(SLVec3f::AXISY);
     _axisZWS = wm.multVec(SLVec3f::AXISZ);
  
     // Delete OpenGL vertex array
     if (_vao.vaoID()) _vao.clearAttribs();
 }

◆ updateBoneWS()

void SLAABBox::updateBoneWS	(	const SLMat4f &	parentWM,
		SLbool	isRoot,
		const SLMat4f &	nodeWM
	)

Updates joints axis and the bone line from the parent to us.

If the node has a skeleton assigned the method updates the axis and bone visualization lines of the joint. Note that joints bone line is drawn by its children. So the bone line in here is the bone from the parent to us. If this parent bone direction is not along the parents Y axis we interpret the connection not as a bone but as an offset displacement. Bones will be drawn in SLAABBox::drawBoneWS in yellow and displacements in magenta. If the joint has no parent (the root) no line is drawn.

Definition at line 162 of file SLAABBox.cpp.

 {
     // set coordinate axis centre point
     _axis0WS = nodeWM.multVec(SLVec3f::ZERO);
  
     // set scale factor for coordinate axis
     SLfloat axisScaleFactor = 0.03f;
  
     if (!isRoot)
     {
         // build the parent pos in WM
         _parent0WS = parentWM.multVec(SLVec3f::ZERO);
  
         // set the axis scale factor depending on the length of the parent bone
         SLVec3f parentToMe = _axis0WS - _parent0WS;
         axisScaleFactor    = std::max(parentToMe.length() / 10.0f, axisScaleFactor);
  
         // check if the parent to me direction is parallel to the parents actual y-axis
         parentToMe.normalize();
         SLVec3f parentY = parentWM.axisY();
         parentY.normalize();
         _boneIsOffset = parentToMe.dot(parentY) < (1.0f - FLT_EPSILON);
     }
     else
     {
         // for the root node don't draw a parent bone
         _parent0WS    = _axis0WS;
         _boneIsOffset = false;
     }
  
     // set coordinate axis end points
     _axisXWS = nodeWM.multVec(SLVec3f::AXISX * axisScaleFactor);
     _axisYWS = nodeWM.multVec(SLVec3f::AXISY * axisScaleFactor);
     _axisZWS = nodeWM.multVec(SLVec3f::AXISZ * axisScaleFactor);
  
     // Delete OpenGL vertex array
     if (_vao.vaoID()) _vao.clearAttribs();
 }

Member Data Documentation

◆ _axis0WS

SLVec3f SLAABBox::_axis0WS

private

World space axis center point.

Definition at line 93 of file SLAABBox.h.

◆ _axisXWS

SLVec3f SLAABBox::_axisXWS

private

World space x-axis vector.

Definition at line 94 of file SLAABBox.h.

◆ _axisYWS

SLVec3f SLAABBox::_axisYWS

private

World space y-axis vector.

Definition at line 95 of file SLAABBox.h.

◆ _axisZWS

SLVec3f SLAABBox::_axisZWS

private

World space z-axis vector.

Definition at line 96 of file SLAABBox.h.

◆ _boneIsOffset

SLbool SLAABBox::_boneIsOffset

private

Flag if the connection parent to us is a bone or an offset.

Definition at line 97 of file SLAABBox.h.

◆ _centerOS

SLVec3f SLAABBox::_centerOS

private

Center of AABB in object space.

Definition at line 89 of file SLAABBox.h.

◆ _centerWS

SLVec3f SLAABBox::_centerWS

private

Center of AABB in world space.

Definition at line 88 of file SLAABBox.h.

◆ _isVisible

SLbool SLAABBox::_isVisible

private

Flag if AABB is in the view frustum.

Definition at line 99 of file SLAABBox.h.

◆ _maxOS

SLVec3f SLAABBox::_maxOS

private

Max. corner in object space.

Definition at line 87 of file SLAABBox.h.

◆ _maxWS

SLVec3f SLAABBox::_maxWS

private

Max. corner in world space.

Definition at line 86 of file SLAABBox.h.

◆ _minOS

SLVec3f SLAABBox::_minOS

private

Min. corner in object space.

Definition at line 85 of file SLAABBox.h.

◆ _minWS

SLVec3f SLAABBox::_minWS

private

Min. corner in world space.

Definition at line 84 of file SLAABBox.h.

◆ _parent0WS

SLVec3f SLAABBox::_parent0WS

private

World space vector to the parent position.

Definition at line 98 of file SLAABBox.h.

◆ _radiusOS

SLfloat SLAABBox::_radiusOS

private

Radius of sphere around AABB in OS.

Definition at line 91 of file SLAABBox.h.

◆ _radiusWS

SLfloat SLAABBox::_radiusWS

private

Radius of sphere around AABB in WS.

Definition at line 90 of file SLAABBox.h.

◆ _rectSS

SLRectf SLAABBox::_rectSS

private

Bounding rectangle in screen space.

Definition at line 100 of file SLAABBox.h.

◆ _sqrViewDist

SLfloat SLAABBox::_sqrViewDist

private

Squared dist. from center to viewpoint.

Definition at line 92 of file SLAABBox.h.

◆ _vao

SLGLVertexArrayExt SLAABBox::_vao

private

Vertex array object for rendering.

Definition at line 101 of file SLAABBox.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SLAABBox()

Member Function Documentation

◆ calculateRectSS()

◆ centerOS()

◆ centerWS()

◆ drawAxisWS()

◆ drawBoneWS()

◆ drawWS()

◆ fromOStoWS()

◆ fromWStoOS()

◆ generateVAO()

◆ isHitInOS()

◆ isHitInWS()

◆ isVisible() [1/2]

◆ isVisible() [2/2]

◆ maxOS() [1/2]

◆ maxOS() [2/2]

◆ maxWS() [1/2]

◆ maxWS() [2/2]

◆ mergeWS()

◆ minOS() [1/2]

◆ minOS() [2/2]

◆ minWS() [1/2]

◆ minWS() [2/2]

◆ radiusOS()

◆ radiusWS()

◆ rectCoverageInSS()

◆ rectSS()

◆ reset()

◆ setCenterAndRadiusWS()

◆ sqrViewDist() [1/2]

◆ sqrViewDist() [2/2]

◆ updateAxisWS()

◆ updateBoneWS()

Member Data Documentation

◆ _axis0WS

◆ _axisXWS

◆ _axisYWS

◆ _axisZWS

◆ _boneIsOffset

◆ _centerOS

◆ _centerWS

◆ _isVisible

◆ _maxOS

◆ _maxWS

◆ _minOS

◆ _minWS

◆ _parent0WS

◆ _radiusOS

◆ _radiusWS

◆ _rectSS

◆ _sqrViewDist

◆ _vao