AABBf.java

/*
 * (C) Copyright 2017-2018 JOML

 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
 in the Software without restriction, including without limitation the rights
 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 copies of the Software, and to permit persons to whom the Software is
 furnished to do so, subject to the following conditions:

 The above copyright notice and this permission notice shall be included in
 all copies or substantial portions of the Software.

 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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 */
package org.joml;

import java.text.DecimalFormat;
import java.text.NumberFormat;

/**
 * Represents an axis-aligned box defined via the minimum and maximum corner coordinates.
 * 
 * @author Kai Burjack
 */
public class AABBf {

    public float minX = Float.POSITIVE_INFINITY, minY = Float.POSITIVE_INFINITY, minZ = Float.POSITIVE_INFINITY;
    public float maxX = Float.NEGATIVE_INFINITY, maxY = Float.NEGATIVE_INFINITY, maxZ = Float.NEGATIVE_INFINITY;

    /**
     * Create a new {@link AABBf} representing the box with
     * <tt>(minX, minY, minZ)=(+inf, +inf, +inf)</tt> and <tt>(maxX, maxY, maxZ)=(-inf, -inf, -inf)</tt>.
     */
    public AABBf() {
    }

    /**
     * Create a new {@link AABBf} as a copy of the given <code>source</code>.
     * 
     * @param source
     *          the {@link AABBf} to copy from
     */
    public AABBf(AABBf source) {
        this.minX = source.minX;
        this.minY = source.minY;
        this.minZ = source.minZ;
        this.maxX = source.maxX;
        this.maxY = source.maxY;
        this.maxZ = source.maxZ;
    }

    /**
     * Create a new {@link AABBf} with the given minimum and maximum corner coordinates.
     * 
     * @param min
     *          the minimum coordinates
     * @param max
     *          the maximum coordinates
     */
    public AABBf(Vector3fc min, Vector3fc max) {
        this.minX = min.x();
        this.minY = min.y();
        this.minZ = min.z();
        this.maxX = max.x();
        this.maxY = max.y();
        this.maxZ = max.z();
    }

    /**
     * Create a new {@link AABBf} with the given minimum and maximum corner coordinates.
     * 
     * @param minX
     *          the x coordinate of the minimum corner
     * @param minY
     *          the y coordinate of the minimum corner
     * @param minZ
     *          the z coordinate of the minimum corner
     * @param maxX
     *          the x coordinate of the maximum corner
     * @param maxY
     *          the y coordinate of the maximum corner
     * @param maxZ
     *          the z coordinate of the maximum corner
     */
    public AABBf(float minX, float minY, float minZ, float maxX, float maxY, float maxZ) {
        this.minX = minX;
        this.minY = minY;
        this.minZ = minZ;
        this.maxX = maxX;
        this.maxY = maxY;
        this.maxZ = maxZ;
    }

    /**
     * Set the minimum corner coordinates.
     * 
     * @param minX
     *          the x coordinate of the minimum corner
     * @param minY
     *          the y coordinate of the minimum corner
     * @param minZ
     *          the z coordinate of the minimum corner
     * @return this
     */
    public AABBf setMin(float minX, float minY, float minZ) {
        this.minX = minX;
        this.minY = minY;
        this.minZ = minZ;
        return this;
    }

    /**
     * Set the maximum corner coordinates.
     * 
     * @param maxX
     *          the x coordinate of the maximum corner
     * @param maxY
     *          the y coordinate of the maximum corner
     * @param maxZ
     *          the z coordinate of the maximum corner
     * @return this
     */
    public AABBf setMax(float maxX, float maxY, float maxZ) {
        this.maxX = maxX;
        this.maxY = maxY;
        this.maxZ = maxZ;
        return this;
    }

    /**
     * Set the minimum corner coordinates.
     * 
     * @param min
     *          the minimum coordinates
     * @return this
     */
    public AABBf setMin(Vector3fc min) {
        return this.setMin(min.x(), min.y(), min.z());
    }

    /**
     * Set the maximum corner coordinates.
     * 
     * @param max
     *          the maximum coordinates
     * @return this
     */
    public AABBf setMax(Vector3fc max) {
        return this.setMax(max.x(), max.y(), max.z());
    }

    /**
     * Set <code>this</code> to the union of <code>this</code> and the given point <tt>(x, y, z)</tt>.
     * 
     * @param x
     *          the x coordinate of the point
     * @param y
     *          the y coordinate of the point
     * @param z
     *          the z coordinate of the point
     * @return this
     */
    public AABBf union(float x, float y, float z) {
        return union(x, y, z, this);
    }

    /**
     * Set <code>this</code> to the union of <code>this</code> and the given point <code>p</code>.
     * 
     * @param p
     *          the point
     * @return this
     */
    public AABBf union(Vector3fc p) {
        return union(p.x(), p.y(), p.z(), this);
    }

    /**
     * Compute the union of <code>this</code> and the given point <tt>(x, y, z)</tt> and store the result in <code>dest</code>.
     * 
     * @param x
     *          the x coordinate of the point
     * @param y
     *          the y coordinate of the point
     * @param z
     *          the z coordinate of the point
     * @param dest
     *          will hold the result
     * @return dest
     */
    public AABBf union(float x, float y, float z, AABBf dest) {
        dest.minX = this.minX < x ? this.minX : x;
        dest.minY = this.minY < y ? this.minY : y;
        dest.minZ = this.minZ < z ? this.minZ : z;
        dest.maxX = this.maxX > x ? this.maxX : x;
        dest.maxY = this.maxY > y ? this.maxY : y;
        dest.maxZ = this.maxZ > z ? this.maxZ : z;
        return dest;
    }

    /**
     * Compute the union of <code>this</code> and the given point <code>p</code> and store the result in <code>dest</code>.
     * 
     * @param p
     *          the point
     * @param dest
     *          will hold the result
     * @return dest
     */
    public AABBf union(Vector3fc p, AABBf dest) {
        return union(p.x(), p.y(), p.z(), dest);
    }

    /**
     * Set <code>this</code> to the union of <code>this</code> and <code>other</code>.
     * 
     * @param other
     *          the other {@link AABBf}
     * @return this
     */
    public AABBf union(AABBf other) {
        return this.union(other, this);
    }

    /**
     * Compute the union of <code>this</code> and <code>other</code> and store the result in <code>dest</code>.
     * 
     * @param other
     *          the other {@link AABBf}
     * @param dest
     *          will hold the result
     * @return dest
     */
    public AABBf union(AABBf other, AABBf dest) {
        dest.minX = this.minX < other.minX ? this.minX : other.minX;
        dest.minY = this.minY < other.minY ? this.minY : other.minY;
        dest.minZ = this.minZ < other.minZ ? this.minZ : other.minZ;
        dest.maxX = this.maxX > other.maxX ? this.maxX : other.maxX;
        dest.maxY = this.maxY > other.maxY ? this.maxY : other.maxY;
        dest.maxZ = this.maxZ > other.maxZ ? this.maxZ : other.maxZ;
        return dest;
    }

    /**
     * Ensure that the minimum coordinates are strictly less than or equal to the maximum coordinates by swapping
     * them if necessary.
     * 
     * @return this
     */
    public AABBf correctBounds() {
        float tmp;
        if (this.minX > this.maxX) {
            tmp = this.minX;
            this.minX = this.maxX;
            this.maxX = tmp;
        }
        if (this.minY > this.maxY) {
            tmp = this.minY;
            this.minY = this.maxY;
            this.maxY = tmp;
        }
        if (this.minZ > this.maxZ) {
            tmp = this.minZ;
            this.minZ = this.maxZ;
            this.maxZ = tmp;
        }
        return this;
    }

    /**
     * Test whether the point <tt>(x, y, z)</tt> lies inside this AABB.
     * 
     * @param x
     *          the x coordinate of the point
     * @param y
     *          the y coordinate of the point
     * @param z
     *          the z coordinate of the point
     * @return <code>true</code> iff the given point lies inside this AABB; <code>false</code> otherwise
     */
    public boolean testPoint(float x, float y, float z) {
        return x >= minX && y >= minY && z >= minZ && x <= maxX && y <= maxY && z <= maxZ;
    }

    /**
     * Test whether the given point lies inside this AABB.
     * 
     * @param point
     *          the coordinates of the point
     * @return <code>true</code> iff the given point lies inside this AABB; <code>false</code> otherwise
     */
    public boolean testPoint(Vector3fc point) {
        return testPoint(point.x(), point.y(), point.z());
    }

    /**
     * Test whether the plane given via its plane equation <tt>a*x + b*y + c*z + d = 0</tt> intersects this AABB.
     * <p>
     * Reference: <a href="http://www.lighthouse3d.com/tutorials/view-frustum-culling/geometric-approach-testing-boxes-ii/">http://www.lighthouse3d.com</a> ("Geometric Approach - Testing Boxes II")
     * 
     * @param a
     *          the x factor in the plane equation
     * @param b
     *          the y factor in the plane equation
     * @param c
     *          the z factor in the plane equation
     * @param d
     *          the constant in the plane equation
     * @return <code>true</code> iff the plane intersects this AABB; <code>false</code> otherwise
     */
    public boolean testPlane(float a, float b, float c, float d) {
        return Intersectionf.testAabPlane(minX, minY, minZ, maxX, maxY, maxZ, a, b, c, d);
    }

    /**
     * Test whether the given plane intersects this AABB.
     * <p>
     * Reference: <a href="http://www.lighthouse3d.com/tutorials/view-frustum-culling/geometric-approach-testing-boxes-ii/">http://www.lighthouse3d.com</a> ("Geometric Approach - Testing Boxes II")
     * 
     * @param plane
     *          the plane
     * @return <code>true</code> iff the plane intersects this AABB; <code>false</code> otherwise
     */
    public boolean testPlane(Planef plane) {
        return Intersectionf.testAabPlane(this, plane);
    }

    /**
     * Test whether <code>this</code> and <code>other</code> intersect.
     * 
     * @param other
     *          the other AABB
     * @return <code>true</code> iff both AABBs intersect; <code>false</code> otherwise
     */
    public boolean testAABB(AABBf other) {
        return this.maxX >= other.minX && this.maxY >= other.minY && this.maxZ >= other.minZ && 
               this.minX <= other.maxX && this.minY <= other.maxY && this.minZ <= other.maxZ;
    }

    /**
     * Test whether this AABB intersects the given sphere with equation
     * <tt>(x - centerX)^2 + (y - centerY)^2 + (z - centerZ)^2 - radiusSquared = 0</tt>.
     * <p>
     * Reference: <a href="http://stackoverflow.com/questions/4578967/cube-sphere-intersection-test#answer-4579069">http://stackoverflow.com</a>
     * 
     * @param centerX
     *          the x coordinate of the center of the sphere
     * @param centerY
     *          the y coordinate of the center of the sphere
     * @param centerZ
     *          the z coordinate of the center of the sphere
     * @param radiusSquared
     *          the square radius of the sphere
     * @return <code>true</code> iff this AABB and the sphere intersect; <code>false</code> otherwise
     */
    public boolean testSphere(float centerX, float centerY, float centerZ, float radiusSquared) {
        return Intersectionf.testAabSphere(minX, minY, minZ, maxX, maxY, maxZ, centerX, centerY, centerZ, radiusSquared);
    }

    /**
     * Test whether this AABB intersects the given sphere.
     * <p>
     * Reference: <a href="http://stackoverflow.com/questions/4578967/cube-sphere-intersection-test#answer-4579069">http://stackoverflow.com</a>
     * 
     * @param sphere
     *          the sphere
     * @return <code>true</code> iff this AABB and the sphere intersect; <code>false</code> otherwise
     */
    public boolean testSphere(Spheref sphere) {
        return Intersectionf.testAabSphere(this, sphere);
    }

    /**
     * Test whether the given ray with the origin <tt>(originX, originY, originZ)</tt> and direction <tt>(dirX, dirY, dirZ)</tt>
     * intersects this AABB.
     * <p>
     * This method returns <code>true</code> for a ray whose origin lies inside this AABB.
     * <p>
     * Reference: <a href="https://dl.acm.org/citation.cfm?id=1198748">An Efficient and Robust Ray–Box Intersection</a>
     * 
     * @param originX
     *          the x coordinate of the ray's origin
     * @param originY
     *          the y coordinate of the ray's origin
     * @param originZ
     *          the z coordinate of the ray's origin
     * @param dirX
     *          the x coordinate of the ray's direction
     * @param dirY
     *          the y coordinate of the ray's direction
     * @param dirZ
     *          the z coordinate of the ray's direction
     * @return <code>true</code> if this AABB and the ray intersect; <code>false</code> otherwise
     */
    public boolean testRay(float originX, float originY, float originZ, float dirX, float dirY, float dirZ) {
        return Intersectionf.testRayAab(originX, originY, originZ, dirX, dirY, dirZ, minX, minY, minZ, maxX, maxY, maxZ);
    }

    /**
     * Test whether the given ray intersects this AABB.
     * <p>
     * This method returns <code>true</code> for a ray whose origin lies inside this AABB.
     * <p>
     * Reference: <a href="https://dl.acm.org/citation.cfm?id=1198748">An Efficient and Robust Ray–Box Intersection</a>
     * 
     * @param ray
     *          the ray
     * @return <code>true</code> if this AABB and the ray intersect; <code>false</code> otherwise
     */
    public boolean testRay(Rayf ray) {
        return Intersectionf.testRayAab(ray, this);
    }

    /**
     * Determine whether the given ray with the origin <tt>(originX, originY, originZ)</tt> and direction <tt>(dirX, dirY, dirZ)</tt>
     * intersects this AABB, and return the values of the parameter <i>t</i> in the ray equation
     * <i>p(t) = origin + t * dir</i> of the near and far point of intersection.
     * <p>
     * This method returns <code>true</code> for a ray whose origin lies inside this AABB.
     * <p>
     * Reference: <a href="https://dl.acm.org/citation.cfm?id=1198748">An Efficient and Robust Ray–Box Intersection</a>
     * 
     * @param originX
     *              the x coordinate of the ray's origin
     * @param originY
     *              the y coordinate of the ray's origin
     * @param originZ
     *              the z coordinate of the ray's origin
     * @param dirX
     *              the x coordinate of the ray's direction
     * @param dirY
     *              the y coordinate of the ray's direction
     * @param dirZ
     *              the z coordinate of the ray's direction
     * @param result
     *              a vector which will hold the resulting values of the parameter
     *              <i>t</i> in the ray equation <i>p(t) = origin + t * dir</i> of the near and far point of intersection
     *              iff the ray intersects this AABB
     * @return <code>true</code> if the given ray intersects this AABB; <code>false</code> otherwise
     */
    public boolean intersectRay(float originX, float originY, float originZ, float dirX, float dirY, float dirZ, Vector2f result) {
        return Intersectionf.intersectRayAab(originX, originY, originZ, dirX, dirY, dirZ, minX, minY, minZ, maxX, maxY, maxZ, result);
    }

    /**
     * Determine whether the given ray intersects this AABB, and return the values of the parameter <i>t</i> in the ray equation
     * <i>p(t) = origin + t * dir</i> of the near and far point of intersection.
     * <p>
     * This method returns <code>true</code> for a ray whose origin lies inside this AABB.
     * <p>
     * Reference: <a href="https://dl.acm.org/citation.cfm?id=1198748">An Efficient and Robust Ray–Box Intersection</a>
     * 
     * @param ray
     *              the ray
     * @param result
     *              a vector which will hold the resulting values of the parameter
     *              <i>t</i> in the ray equation <i>p(t) = origin + t * dir</i> of the near and far point of intersection
     *              iff the ray intersects this AABB
     * @return <code>true</code> if the given ray intersects this AABB; <code>false</code> otherwise
     */
    public boolean intersectRay(Rayf ray, Vector2f result) {
        return Intersectionf.intersectRayAab(ray, this, result);
    }

    /**
     * Determine whether the undirected line segment with the end points <tt>(p0X, p0Y, p0Z)</tt> and <tt>(p1X, p1Y, p1Z)</tt>
     * intersects this AABB, and return the values of the parameter <i>t</i> in the ray equation
     * <i>p(t) = origin + p0 * (p1 - p0)</i> of the near and far point of intersection.
     * <p>
     * This method returns <code>true</code> for a line segment whose either end point lies inside this AABB.
     * <p>
     * Reference: <a href="https://dl.acm.org/citation.cfm?id=1198748">An Efficient and Robust Ray–Box Intersection</a>
     * 
     * @param p0X
     *              the x coordinate of the line segment's first end point
     * @param p0Y
     *              the y coordinate of the line segment's first end point
     * @param p0Z
     *              the z coordinate of the line segment's first end point
     * @param p1X
     *              the x coordinate of the line segment's second end point
     * @param p1Y
     *              the y coordinate of the line segment's second end point
     * @param p1Z
     *              the z coordinate of the line segment's second end point
     * @param result
     *              a vector which will hold the resulting values of the parameter
     *              <i>t</i> in the ray equation <i>p(t) = p0 + t * (p1 - p0)</i> of the near and far point of intersection
     *              iff the line segment intersects this AABB
     * @return {@link Intersectionf#INSIDE} if the line segment lies completely inside of this AABB; or
     *         {@link Intersectionf#OUTSIDE} if the line segment lies completely outside of this AABB; or
     *         {@link Intersectionf#ONE_INTERSECTION} if one of the end points of the line segment lies inside of this AABB; or
     *         {@link Intersectionf#TWO_INTERSECTION} if the line segment intersects two sides of this AABB or lies on an edge or a side of this AABB
     */
    public int intersectLineSegment(float p0X, float p0Y, float p0Z, float p1X, float p1Y, float p1Z, Vector2f result) {
        return Intersectionf.intersectLineSegmentAab(p0X, p0Y, p0Z, p1X, p1Y, p1Z, minX, minY, minZ, maxX, maxY, maxZ, result);
    }

    /**
     * Determine whether the given undirected line segment intersects this AABB, and return the values of the parameter <i>t</i> in the ray equation
     * <i>p(t) = origin + p0 * (p1 - p0)</i> of the near and far point of intersection.
     * <p>
     * This method returns <code>true</code> for a line segment whose either end point lies inside this AABB.
     * <p>
     * Reference: <a href="https://dl.acm.org/citation.cfm?id=1198748">An Efficient and Robust Ray–Box Intersection</a>
     * 
     * @param lineSegment
     *              the line segment
     * @param result
     *              a vector which will hold the resulting values of the parameter
     *              <i>t</i> in the ray equation <i>p(t) = p0 + t * (p1 - p0)</i> of the near and far point of intersection
     *              iff the line segment intersects this AABB
     * @return {@link Intersectionf#INSIDE} if the line segment lies completely inside of this AABB; or
     *         {@link Intersectionf#OUTSIDE} if the line segment lies completely outside of this AABB; or
     *         {@link Intersectionf#ONE_INTERSECTION} if one of the end points of the line segment lies inside of this AABB; or
     *         {@link Intersectionf#TWO_INTERSECTION} if the line segment intersects two sides of this AABB or lies on an edge or a side of this AABB
     */
    public int intersectLineSegment(LineSegmentf lineSegment, Vector2f result) {
        return Intersectionf.intersectLineSegmentAab(lineSegment, this, result);
    }

    public int hashCode() {
        final int prime = 31;
        int result = 1;
        result = prime * result + Float.floatToIntBits(maxX);
        result = prime * result + Float.floatToIntBits(maxY);
        result = prime * result + Float.floatToIntBits(maxZ);
        result = prime * result + Float.floatToIntBits(minX);
        result = prime * result + Float.floatToIntBits(minY);
        result = prime * result + Float.floatToIntBits(minZ);
        return result;
    }

    public boolean equals(Object obj) {
        if (this == obj)
            return true;
        if (obj == null)
            return false;
        if (getClass() != obj.getClass())
            return false;
        AABBf other = (AABBf) obj;
        if (Float.floatToIntBits(maxX) != Float.floatToIntBits(other.maxX))
            return false;
        if (Float.floatToIntBits(maxY) != Float.floatToIntBits(other.maxY))
            return false;
        if (Float.floatToIntBits(maxZ) != Float.floatToIntBits(other.maxZ))
            return false;
        if (Float.floatToIntBits(minX) != Float.floatToIntBits(other.minX))
            return false;
        if (Float.floatToIntBits(minY) != Float.floatToIntBits(other.minY))
            return false;
        if (Float.floatToIntBits(minZ) != Float.floatToIntBits(other.minZ))
            return false;
        return true;
    }

    /**
     * Return a string representation of this AABB.
     * <p>
     * This method creates a new {@link DecimalFormat} on every invocation with the format string "<tt>0.000E0;-</tt>".
     * 
     * @return the string representation
     */
    public String toString() {
        return Runtime.formatNumbers(toString(Options.NUMBER_FORMAT));
    }

    /**
     * Return a string representation of this AABB by formatting the vector components with the given {@link NumberFormat}.
     * 
     * @param formatter
     *          the {@link NumberFormat} used to format the vector components with
     * @return the string representation
     */
    public String toString(NumberFormat formatter) {
        return "(" + formatter.format(minX) + " " + formatter.format(minY) + " " + formatter.format(minZ) + ") < "
             + "(" + formatter.format(maxX) + " " + formatter.format(maxY) + " " + formatter.format(maxZ) + ")";
    }

}