BoundBox.h

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/***************************************************************************
 *   Copyright (c) 2005 Imetric 3D GmbH                                    *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  is distributed in the hope that it will be useful,      *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/


#ifndef BASE_BOUNDBOX_H
#define BASE_BOUNDBOX_H

#include <Base/Vector3D.h>
#include <Base/Matrix.h>
#include <Base/ViewProj.h>
#include <Base/Tools2D.h>
#include <limits>

namespace Base {

class ViewProjMethod;

template <class _Precision>
class BoundBox3
{
    // helper function
    static bool isOnRayW(_Precision, _Precision, _Precision);
    static bool isOnRayS(_Precision, _Precision, _Precision);

public:
    typedef _Precision num_type;
    typedef float_traits<num_type> traits_type;

    _Precision MinX;
    _Precision MinY;
    _Precision MinZ;
    _Precision MaxX;
    _Precision MaxY;
    _Precision MaxZ;

    inline explicit BoundBox3 (_Precision fMinX =  std::numeric_limits<_Precision>::max(),
                               _Precision fMinY =  std::numeric_limits<_Precision>::max(),
                               _Precision fMinZ =  std::numeric_limits<_Precision>::max(),
                               _Precision fMaxX = -std::numeric_limits<_Precision>::max(),
                               _Precision fMaxY = -std::numeric_limits<_Precision>::max(),
                               _Precision fMaxZ = -std::numeric_limits<_Precision>::max());
    BoundBox3 (const BoundBox3<_Precision> &rcBB) { *this = rcBB; }
    inline BoundBox3 (const Vector3<_Precision> *pclVect, unsigned long ulCt);

    BoundBox3 (const Vector3<_Precision> &rcCnt, _Precision fDistance);
    ~BoundBox3 ();

    inline  BoundBox3<_Precision>& operator = (const BoundBox3<_Precision> &rcBound);

    inline bool Intersect (const BoundBox3<_Precision> &rcBB) const;
    inline bool operator && (const BoundBox3<_Precision> &rcBB) const;
    inline bool Intersect (const BoundBox2d &rcBB) const;
    inline bool operator && (const BoundBox2d &rcBB) const;
    BoundBox3<_Precision> Intersected (const BoundBox3<_Precision> &rcBB) const;
    BoundBox3<_Precision> United (const BoundBox3<_Precision> &rcBB) const;
    inline  void Add (const Vector3<_Precision> &rclVect);
    inline  void Add (const BoundBox3<_Precision> &rcBB);

    inline bool IsInBox (const Vector3<_Precision> &rcVct) const;
    inline bool IsInBox (const BoundBox3<_Precision> &rcBB) const;
    inline bool IsInBox (const BoundBox2d &rcbb) const;
    bool IsValid (void) const;

    enum OCTANT {OCT_LDB = 0, OCT_RDB, OCT_LUB, OCT_RUB,
                 OCT_LDF,     OCT_RDF, OCT_LUF, OCT_RUF};
    bool GetOctantFromVector (const Vector3<_Precision> &rclVct, OCTANT &rclOctant) const;
    BoundBox3<_Precision> CalcOctant (typename BoundBox3<_Precision>::OCTANT Octant) const;

    enum SIDE { LEFT =0, RIGHT=1, TOP=2, BOTTOM=3, FRONT=4, BACK=5, INVALID=255 };

    inline Vector3<_Precision> CalcPoint (unsigned short usPoint) const;
    void CalcPlane (unsigned short usPlane, Vector3<_Precision>& rBase, Vector3<_Precision>& rNormal ) const;
    bool  CalcEdge (unsigned short usEdge, Vector3<_Precision>& rcP0, Vector3<_Precision>& rcP1) const;
    bool IntersectionPoint (const Vector3<_Precision> &rcVct, const Vector3<_Precision> &rcVctDir, Vector3<_Precision>& cVctRes, _Precision epsilon) const;
    bool IsCutLine ( const Vector3<_Precision>& rcBase, const Vector3<_Precision>& rcDir, _Precision fTolerance = 0.0f) const;
    inline bool IsCutPlane (const Vector3<_Precision> &rclBase, const Vector3<_Precision> &rclNormal) const;
    bool IntersectWithLine (const Vector3<_Precision>& rcBase, const Vector3<_Precision>& rcDir, Vector3<_Precision>& rcP0, Vector3<_Precision>& rcP1) const;
    bool IntersectPlaneWithLine (unsigned short usSide, const Vector3<_Precision>& rcBase, const Vector3<_Precision>& rcDir,
                                 Vector3<_Precision>& rcP0) const;
    typename BoundBox3<_Precision>::SIDE GetSideFromRay (const Vector3<_Precision> &rclPt, const Vector3<_Precision> &rclDir) const;
    typename BoundBox3<_Precision>::SIDE GetSideFromRay (const Vector3<_Precision> &rclPt, const Vector3<_Precision> &rclDir, Vector3<_Precision>& rcInt) const;

    Vector3<_Precision> ClosestPoint (const Vector3<_Precision> &rclPt) const;
    BoundBox2d ProjectBox(const ViewProjMethod *rclP) const;
    BoundBox3<_Precision> Transformed(const Matrix4D& mat) const;

    inline Vector3<_Precision> GetCenter (void) const;
    inline _Precision CalcDiagonalLength (void) const;
    void SetVoid (void);

    inline void Enlarge (_Precision fLen);
    inline void Shrink  (_Precision fLen);

    inline _Precision LengthX (void) const;
    inline _Precision LengthY (void) const;
    inline _Precision LengthZ (void) const;
    inline void MoveX (_Precision f);
    inline void MoveY (_Precision f);
    inline void MoveZ (_Precision f);
    inline void ScaleX (_Precision f);
    inline void ScaleY (_Precision f);
    inline void ScaleZ (_Precision f);

    void Print (std::ostream&) const;
};


template <class _Precision>
bool BoundBox3<_Precision>::isOnRayW(_Precision A, _Precision B, _Precision K)
{
    // Checks if point K lies on the ray [A,B]
    return ((A <= K) && (K <= B));
}

template <class _Precision>
bool BoundBox3<_Precision>::isOnRayS(_Precision A, _Precision B, _Precision K)
{
    // Checks if point K lies on the ray [A,B[
    return ((A <= K) && (K < B));
}

template <class _Precision>
inline BoundBox3<_Precision>::BoundBox3 (_Precision fMinX, _Precision fMinY, _Precision fMinZ,
                                         _Precision fMaxX, _Precision fMaxY, _Precision fMaxZ)
  : MinX(fMinX), MinY(fMinY), MinZ(fMinZ),
    MaxX(fMaxX), MaxY(fMaxY), MaxZ(fMaxZ)
{
}

template <class _Precision>
inline BoundBox3<_Precision>::BoundBox3 (const Vector3<_Precision> *pclVect, unsigned long ulCt)
  : MinX( std::numeric_limits<_Precision>::max())
  , MinY( std::numeric_limits<_Precision>::max())
  , MinZ( std::numeric_limits<_Precision>::max())
  , MaxX(-std::numeric_limits<_Precision>::max())
  , MaxY(-std::numeric_limits<_Precision>::max())
  , MaxZ(-std::numeric_limits<_Precision>::max())
{
    const Vector3<_Precision>  *pI, *pEnd = pclVect + ulCt;
    for (pI = pclVect; pI < pEnd; ++pI) {
        MinX = std::min<_Precision>(MinX, pI->x);
        MinY = std::min<_Precision>(MinY, pI->y);
        MinZ = std::min<_Precision>(MinZ, pI->z);
        MaxX = std::max<_Precision>(MaxX, pI->x);
        MaxY = std::max<_Precision>(MaxY, pI->y);
        MaxZ = std::max<_Precision>(MaxZ, pI->z);
    }
}

template <class _Precision>
inline BoundBox3<_Precision>::BoundBox3 (const Vector3<_Precision> &rcVector, _Precision fDistance)
{
    MinX = rcVector.x - fDistance;
    MaxX = rcVector.x + fDistance;
    MinY = rcVector.y - fDistance;
    MaxY = rcVector.y + fDistance;
    MinZ = rcVector.z - fDistance;
    MaxZ = rcVector.z + fDistance;
}

template <class _Precision>
inline BoundBox3<_Precision>::~BoundBox3 ()
{
}

template <class _Precision>
inline  BoundBox3<_Precision>& BoundBox3<_Precision>::operator = (const BoundBox3<_Precision> &rcBound)
{
    MinX = rcBound.MinX;
    MinY = rcBound.MinY;
    MinZ = rcBound.MinZ;
    MaxX = rcBound.MaxX;
    MaxY = rcBound.MaxY;
    MaxZ = rcBound.MaxZ;
    return *this;
}

template <class _Precision>
inline bool BoundBox3<_Precision>::Intersect (const BoundBox3<_Precision> &rcBB) const
{
    if (rcBB.MaxX < this->MinX || rcBB.MinX > this->MaxX)
        return false;
    if (rcBB.MaxY < this->MinY || rcBB.MinY > this->MaxY)
        return false;
    if (rcBB.MaxZ < this->MinZ || rcBB.MinZ > this->MaxZ)
        return false;
    return true;
}

template <class _Precision>
bool BoundBox3<_Precision>::operator && (const BoundBox3<_Precision> &rcBB) const
{
    return Intersect(rcBB);
}

template <class _Precision>
inline bool BoundBox3<_Precision>::Intersect (const BoundBox2d &rcBB) const
{
    if (rcBB.MaxX < this->MinX || rcBB.MinX > this->MaxX)
        return false;
    if (rcBB.MaxY < this->MinY || rcBB.MinY > this->MaxY)
        return false;
    return true;
}

template <class _Precision>
inline bool BoundBox3<_Precision>::operator && (const BoundBox2d &rcBB) const
{
    return Intersect(rcBB);
}

template <class _Precision>
inline BoundBox3<_Precision> BoundBox3<_Precision>::Intersected(const BoundBox3<_Precision> &rcBB) const
{
    BoundBox3<_Precision> cBBRes;

    cBBRes.MinX = std::max<_Precision> (MinX, rcBB.MinX);
    cBBRes.MaxX = std::min<_Precision> (MaxX, rcBB.MaxX);
    cBBRes.MinY = std::max<_Precision> (MinY, rcBB.MinY);
    cBBRes.MaxY = std::min<_Precision> (MaxY, rcBB.MaxY);
    cBBRes.MinZ = std::max<_Precision> (MinZ, rcBB.MinZ);
    cBBRes.MaxZ = std::min<_Precision> (MaxZ, rcBB.MaxZ);

    return cBBRes;
}

template <class _Precision>
inline BoundBox3<_Precision> BoundBox3<_Precision>::United(const BoundBox3<_Precision> &rcBB) const
{
    BoundBox3<_Precision> cBBRes;

    cBBRes.MinX = std::min<_Precision> (MinX, rcBB.MinX);
    cBBRes.MaxX = std::max<_Precision> (MaxX, rcBB.MaxX);
    cBBRes.MinY = std::min<_Precision> (MinY, rcBB.MinY);
    cBBRes.MaxY = std::max<_Precision> (MaxY, rcBB.MaxY);
    cBBRes.MinZ = std::min<_Precision> (MinZ, rcBB.MinZ);
    cBBRes.MaxZ = std::max<_Precision> (MaxZ, rcBB.MaxZ);

    return cBBRes;
}

template <class _Precision>
inline  void BoundBox3<_Precision>::Add (const Vector3<_Precision> &rclVect)
{
    this->MinX = std::min<_Precision>(this->MinX, rclVect.x);
    this->MinY = std::min<_Precision>(this->MinY, rclVect.y);
    this->MinZ = std::min<_Precision>(this->MinZ, rclVect.z);
    this->MaxX = std::max<_Precision>(this->MaxX, rclVect.x);
    this->MaxY = std::max<_Precision>(this->MaxY, rclVect.y);
    this->MaxZ = std::max<_Precision>(this->MaxZ, rclVect.z);
}

template <class _Precision>
inline  void BoundBox3<_Precision>::Add (const BoundBox3<_Precision> &rcBB)
{
    this->MinX = std::min<_Precision> (this->MinX, rcBB.MinX);
    this->MaxX = std::max<_Precision> (this->MaxX, rcBB.MaxX);
    this->MinY = std::min<_Precision> (this->MinY, rcBB.MinY);
    this->MaxY = std::max<_Precision> (this->MaxY, rcBB.MaxY);
    this->MinZ = std::min<_Precision> (this->MinZ, rcBB.MinZ);
    this->MaxZ = std::max<_Precision> (this->MaxZ, rcBB.MaxZ);
}

template <class _Precision>
inline bool BoundBox3<_Precision>::IsInBox (const Vector3<_Precision> &rcVct) const
{
    if (rcVct.x < this->MinX || rcVct.x > this->MaxX)
        return false;
    if (rcVct.y < this->MinY || rcVct.y > this->MaxY)
        return false;
    if (rcVct.z < this->MinZ || rcVct.z > this->MaxZ)
        return false;
    return true;
}

template <class _Precision>
inline bool BoundBox3<_Precision>::IsInBox (const BoundBox3<_Precision> &rcBB) const
{
    if (rcBB.MinX < this->MinX || rcBB.MaxX > this->MaxX)
        return false;
    if (rcBB.MinY < this->MinY || rcBB.MaxY > this->MaxY)
        return false;
    if (rcBB.MinZ < this->MinZ || rcBB.MaxZ > this->MaxZ)
        return false;
    return true;
}

template <class _Precision>
inline bool BoundBox3<_Precision>::IsInBox (const BoundBox2d &rcBB) const
{
    if (rcBB.MinX < this->MinX || rcBB.MaxX > this->MaxX)
        return false;
    if (rcBB.MinY < this->MinY || rcBB.MaxY > this->MaxY)
        return false;
    return true;
}

template <class _Precision>
inline bool BoundBox3<_Precision>::IsValid (void) const
{
    return ((MinX <= MaxX) && (MinY <= MaxY) && (MinZ <= MaxZ));
}

template <class _Precision>
inline bool BoundBox3<_Precision>::GetOctantFromVector (const Vector3<_Precision> &rclVct, OCTANT &rclOctant) const
{
    if (!IsInBox (rclVct))
        return false;

    unsigned short usNdx = 0;
    if (isOnRayS ((MinX + MaxX)/2, MaxX, rclVct.x))  // left/RIGHT
        usNdx |= 1;
    if (isOnRayS ((MinY + MaxY)/2, MaxY, rclVct.y))  // down/UP
        usNdx |= 2;
    if (isOnRayS ((MinZ + MaxZ)/2, MaxZ, rclVct.z))  // back/FRONT
        usNdx |= 4;
    rclOctant = static_cast<OCTANT>(usNdx);
    return true;
}

template <class _Precision>
inline BoundBox3<_Precision> BoundBox3<_Precision>::CalcOctant (typename BoundBox3< _Precision >::OCTANT Octant) const
{
    BoundBox3<_Precision> cOct (*this);

    switch (Octant) {
    case OCT_LDB:
        cOct.MaxX = (cOct.MinX + cOct.MaxX)/2;
        cOct.MaxY = (cOct.MinY + cOct.MaxY)/2;
        cOct.MaxZ = (cOct.MinZ + cOct.MaxZ)/2;
        break;

    case OCT_RDB:
        cOct.MinX = (cOct.MinX + cOct.MaxX)/2;
        cOct.MaxY = (cOct.MinY + cOct.MaxY)/2;
        cOct.MaxZ = (cOct.MinZ + cOct.MaxZ)/2;
        break;

    case OCT_LUB:
        cOct.MaxX = (cOct.MinX + cOct.MaxX)/2;
        cOct.MinY = (cOct.MinY + cOct.MaxY)/2;
        cOct.MaxZ = (cOct.MinZ + cOct.MaxZ)/2;
        break;

    case OCT_RUB:
        cOct.MinX = (cOct.MinX + cOct.MaxX)/2;
        cOct.MinY = (cOct.MinY + cOct.MaxY)/2;
        cOct.MaxZ = (cOct.MinZ + cOct.MaxZ)/2;
        break;

    case OCT_LDF:
        cOct.MaxX = (cOct.MinX + cOct.MaxX)/2;
        cOct.MaxY = (cOct.MinY + cOct.MaxY)/2;
        cOct.MinZ = (cOct.MinZ + cOct.MaxZ)/2;
        break;

    case OCT_RDF:
        cOct.MinX = (cOct.MinX + cOct.MaxX)/2;
        cOct.MaxY = (cOct.MinY + cOct.MaxY)/2;
        cOct.MinZ = (cOct.MinZ + cOct.MaxZ)/2;
        break;

    case OCT_LUF:
        cOct.MaxX = (cOct.MinX + cOct.MaxX)/2;
        cOct.MinY = (cOct.MinY + cOct.MaxY)/2;
        cOct.MinZ = (cOct.MinZ + cOct.MaxZ)/2;
        break;

    case OCT_RUF:
        cOct.MinX = (cOct.MinX + cOct.MaxX)/2;
        cOct.MinY = (cOct.MinY + cOct.MaxY)/2;
        cOct.MinZ = (cOct.MinZ + cOct.MaxZ)/2;
        break;
    }
    return cOct;
}

template <class _Precision>
inline Vector3<_Precision> BoundBox3<_Precision>::CalcPoint (unsigned short usPoint) const
{
    switch (usPoint) {
    case 0: return Vector3<_Precision>(MinX, MinY, MaxZ);
    case 1: return Vector3<_Precision>(MaxX, MinY, MaxZ);
    case 2: return Vector3<_Precision>(MaxX, MaxY, MaxZ);
    case 3: return Vector3<_Precision>(MinX, MaxY, MaxZ);
    case 4: return Vector3<_Precision>(MinX, MinY, MinZ);
    case 5: return Vector3<_Precision>(MaxX, MinY, MinZ);
    case 6: return Vector3<_Precision>(MaxX, MaxY, MinZ);
    case 7: return Vector3<_Precision>(MinX, MaxY, MinZ);
    }

    return Vector3<_Precision>();
}

template <class _Precision>
inline void BoundBox3<_Precision>::CalcPlane (unsigned short usPlane, Vector3<_Precision>& rBase, Vector3<_Precision>& rNormal) const
{
    switch (usPlane) {
    case LEFT:
        rBase.Set(MinX, MinY, MaxZ);
        rNormal.Set(1.0f, 0.0f, 0.0f);
        break;

    case RIGHT:
        rBase.Set(MaxX, MinY, MaxZ);
        rNormal.Set(1.0f, 0.0f, 0.0f);
        break;

    case TOP:
        rBase.Set(MinX, MaxY, MaxZ);
        rNormal.Set(0.0f, 1.0f, 0.0f);
        break;

    case BOTTOM:
        rBase.Set(MinX, MinY, MaxZ);
        rNormal.Set(0.0f, 1.0f, 0.0f);
        break;

    case FRONT:
        rBase.Set(MinX, MinY, MaxZ);
        rNormal.Set(0.0f, 0.0f, 1.0f);
        break;

    case BACK:
        rBase.Set(MinX, MinY, MinZ);
        rNormal.Set(0.0f, 0.0f, 1.0f);
        break;
    default:
        break;
    }
}

template <class _Precision>
inline bool BoundBox3<_Precision>::CalcEdge (unsigned short usEdge, Vector3<_Precision>& rcP0, Vector3<_Precision>& rcP1) const
{
    switch (usEdge) {
    case  0:
        rcP0 = CalcPoint(0);
        rcP1 = CalcPoint(1);
        break;
    case  1:
        rcP0 = CalcPoint(1);
        rcP1 = CalcPoint(2);
        break;
    case  2:
        rcP0 = CalcPoint(2);
        rcP1 = CalcPoint(3);
        break;
    case  3:
        rcP0 = CalcPoint(3);
        rcP1 = CalcPoint(0);
        break;
    case  4:
        rcP0 = CalcPoint(4);
        rcP1 = CalcPoint(5);
        break;
    case  5:
        rcP0 = CalcPoint(5);
        rcP1 = CalcPoint(6);
        break;
    case  6:
        rcP0 = CalcPoint(6);
        rcP1 = CalcPoint(7);
        break;
    case  7:
        rcP0 = CalcPoint(7);
        rcP1 = CalcPoint(4);
        break;
    case  8:
        rcP0 = CalcPoint(0);
        rcP1 = CalcPoint(4);
        break;
    case  9:
        rcP0 = CalcPoint(1);
        rcP1 = CalcPoint(5);
        break;
    case 10:
        rcP0 = CalcPoint(2);
        rcP1 = CalcPoint(6);
        break;
    case 11:
        rcP0 = CalcPoint(3);
        rcP1 = CalcPoint(7);
        break;
    default:
        return false; // undefined
    }

    return true;
}

template <class _Precision>
inline bool BoundBox3<_Precision>::IntersectionPoint (const Vector3<_Precision> &rcVct, const Vector3<_Precision> &rcVctDir, Vector3<_Precision>& cVctRes, _Precision epsilon) const
{
    bool rc=false;
    BoundBox3<_Precision> cCmpBound(*this);
    unsigned short i;

    // enlarge bounding box by epsilon
    cCmpBound.Enlarge(epsilon);

    // Is point inside?
    if (cCmpBound.IsInBox (rcVct)) {
        // test sides
        for (i = 0; (i < 6) && (!rc); i++) {
            rc = IntersectPlaneWithLine(i, rcVct, rcVctDir, cVctRes);
            if (!cCmpBound.IsInBox(cVctRes))
                rc = false;
            if (rc == true) {
                // does intersection point lie in desired direction
                // or was found the opposing side?
                // -> scalar product of both direction vectors > 0 (angle < 90)
                rc = ((cVctRes - rcVct) * rcVctDir) >= 0.0;
            }
        }
    }

    return rc;
}

template <class _Precision>
inline bool BoundBox3<_Precision>::IsCutLine (const Vector3<_Precision>& rcBase, const Vector3<_Precision>& rcDir, _Precision fTolerance) const
{
    _Precision fDist;

    // zuerst nur grobe und schnelle Pruefung, indem der
    // Abstand der Linie zum Mittelpunkt der BB berechnet wird
    // und mit der maximalen Diagonalenlaenge + fTolerance
    // verglichen wird.

    // Distanz zwischen Mittelpunkt und Linie
    fDist = (rcDir % (GetCenter() - rcBase)).Length() / rcDir.Length();

    if (fDist > (CalcDiagonalLength() + fTolerance)) {
        return false;
    }
    else { // hier genauerer Test
        unsigned char i;
        Vector3<_Precision>  clVectRes;

        // schneide jede Seitenflaeche mit der Linie
        for (i = 0; i < 6; i++) {
            if (IntersectPlaneWithLine(i, rcBase, rcDir, clVectRes)) {
                // pruefe, ob Schnittpunkt innerhalb BB-Grenzen + Toleranz
                switch (i) {
                    case LEFT :  // linke und rechte Ebene
                    case RIGHT :
                        if ((isOnRayW (MinY - fTolerance, MaxY + fTolerance, clVectRes.y) &&
                             isOnRayW (MinZ - fTolerance, MaxZ + fTolerance, clVectRes.z)))
                            return true;
                        break;
                    case TOP :  // obere und untere Ebene
                    case BOTTOM :
                        if ((isOnRayW (MinX - fTolerance, MaxX + fTolerance, clVectRes.x) &&
                             isOnRayW (MinZ - fTolerance, MaxZ + fTolerance, clVectRes.z)))
                            return true;
                        break;
                    case FRONT :  // vordere und hintere Ebene
                    case BACK :
                        if ((isOnRayW (MinX - fTolerance, MaxX + fTolerance, clVectRes.x) &&
                             isOnRayW (MinY - fTolerance, MaxY + fTolerance, clVectRes.y)))
                            return true;
                        break;
                }
            }
        }
    }

    return false;
}

template <class _Precision>
inline bool BoundBox3<_Precision>::IsCutPlane (const Vector3<_Precision> &rclBase, const Vector3<_Precision> &rclNormal) const
{
    if (fabs(GetCenter().DistanceToPlane(rclBase, rclNormal)) < CalcDiagonalLength()) {
        _Precision fD = CalcPoint(0).DistanceToPlane(rclBase, rclNormal);
        for (unsigned short i = 1; i < 8; i++) {
            if ((CalcPoint(i).DistanceToPlane(rclBase, rclNormal) * fD) <= 0.0f)
                return true;
        }
    }
    return false;
}

template <class _Precision>
inline bool BoundBox3<_Precision>::IntersectWithLine (const Vector3<_Precision> & rcBase, const Vector3<_Precision>& rcDir,
                                                      Vector3<_Precision>& rcP0, Vector3<_Precision>& rcP1) const
{
    Vector3<_Precision>  clVectRes, clVect[6];

    unsigned short numIntersect = 0;
    // cut each face with the line
    for (unsigned short i = 0; i < 6; i++) {
        if (IntersectPlaneWithLine(i, rcBase, rcDir, clVectRes)) {
            // check if intersection point is inside
            switch (i) {
            case LEFT :  // left and right plane
            case RIGHT :
                if ((isOnRayS(MinY, MaxY, clVectRes.y) &&
                     isOnRayS(MinZ, MaxZ, clVectRes.z))) {
                    clVect[numIntersect] = clVectRes;
                    numIntersect++;
                } break;
            case TOP :  // top and bottom plane
            case BOTTOM :
                if ((isOnRayS(MinX, MaxX, clVectRes.x) &&
                     isOnRayS(MinZ, MaxZ, clVectRes.z))) {
                    clVect[numIntersect] = clVectRes;
                    numIntersect++;
                } break;
            case FRONT :  // front and back plane
            case BACK :
                if ((isOnRayS(MinX, MaxX, clVectRes.x) &&
                     isOnRayS(MinY, MaxY, clVectRes.y))) {
                    clVect[numIntersect] = clVectRes;
                    numIntersect++;
                } break;
            }
        }
    }

    if (numIntersect == 2) {
        rcP0 = clVect[0];
        rcP1 = clVect[1];
        return true;
    }
    else if (numIntersect > 2) { // search two different intersection points
        for (unsigned short i = 1; i < numIntersect; i++) {
            if (clVect[i] != clVect[0]) {
                rcP0 = clVect[0];
                rcP1 = clVect[i];
                return true;
            }
        }
    }

    return false;
}

template <class _Precision>
inline bool BoundBox3<_Precision>::IntersectPlaneWithLine (unsigned short usSide, const Vector3<_Precision>& rcBase,
                                                           const Vector3<_Precision>& rcDir, Vector3<_Precision>& rcP0) const
{
    _Precision k;
    Vector3<_Precision> cBase, cNormal;
    Vector3<_Precision>  cDir(rcDir);
    CalcPlane(usSide, cBase, cNormal);

    if ((cNormal * cDir) == 0.0f) {
        return false;  // no point of intersection
    }
    else {
        k = (cNormal * (cBase - rcBase)) / (cNormal * cDir);
        cDir.Scale(k, k, k);
        rcP0 = rcBase + cDir;
        return true;
    }
}

template <class _Precision>
inline typename BoundBox3<_Precision>::SIDE BoundBox3<_Precision>::GetSideFromRay (const Vector3<_Precision> &rclPt, const Vector3<_Precision> &rclDir) const
{
    Vector3<_Precision> cIntersection;
    return GetSideFromRay( rclPt, rclDir, cIntersection);
}

template <class _Precision>
inline typename BoundBox3<_Precision>::SIDE BoundBox3<_Precision>::GetSideFromRay (const Vector3<_Precision> &rclPt, const Vector3<_Precision> &rclDir,
                                                                                   Vector3<_Precision>& rcInt) const
{
    Vector3<_Precision> cP0, cP1;
    if (IntersectWithLine(rclPt, rclDir, cP0, cP1) == false)
        return INVALID;

    Vector3<_Precision>  cOut;
    // same orientation
    if ((cP1-cP0)*rclDir > 0)
        cOut = cP1;
    else
        cOut = cP0;

    rcInt = cOut;

    _Precision fMax = 1.0e-3f;
    SIDE  tSide = INVALID;

    if (fabs(cOut.x - MinX) < fMax) { // left plane
        fMax = _Precision(fabs(cOut.x - MinX));
        tSide = LEFT;
    }

    if (fabs(cOut.x - MaxX) < fMax) { // right plane
        fMax = _Precision(fabs(cOut.x - MaxX));
        tSide = RIGHT;
    }

    if (fabs(cOut.y - MinY) < fMax) { // bottom plane
        fMax = _Precision(fabs(cOut.y - MinY));
        tSide = BOTTOM;
    }

    if (fabs(cOut.y - MaxY) < fMax) { // top plane
        fMax = _Precision(fabs(cOut.y - MaxY));
        tSide = TOP;
    }

    if (fabs(cOut.z - MinZ) < fMax) { // front plane
        fMax = _Precision(fabs(cOut.z - MinZ));
        tSide = FRONT;
    }

    if (fabs(cOut.z - MaxZ) < fMax) { // back plane
        fMax = _Precision(fabs(cOut.z - MaxZ));
        tSide = BACK;
    }

    return tSide;
}

template <class _Precision>
inline Vector3<_Precision> BoundBox3<_Precision>::ClosestPoint (const Vector3<_Precision> &rclPt) const
{
#if 0
    // Get the nearest point of the bb, point MUST be inside the bb!
    _Precision fMinDist = std::numeric_limits<_Precision>::max();
    Vector3<_Precision> cBase, cNormal, clRet;

    for (int i = 0; i < 6; i++) {
        Vector3<_Precision> clTemp = rclPt;
        CalcPlane(i, cBase, cNormal);
        clTemp.ProjectToPlane(cBase, cNormal);
        _Precision fDist = (clTemp - rclPt).Length();
        if (fDist < fMinDist) {
            fMinDist = fDist;
            clRet = clTemp;
        }
    }

    return clRet;
#else
    Vector3<_Precision> closest = rclPt;

    Vector3<_Precision> center = GetCenter();
    _Precision devx = closest.x - center.x;
    _Precision devy = closest.y - center.y;
    _Precision devz = closest.z - center.z;

    _Precision halfwidth  = (MaxX - MinX) / 2;
    _Precision halfheight = (MaxY - MinY) / 2;
    _Precision halfdepth  = (MaxZ - MinZ) / 2;

    // Move point to be on the nearest plane of the box.
    if ((fabs(devx) > fabs(devy)) && (fabs(devx) > fabs(devz)))
        closest.x = center.x + halfwidth * ((devx < 0.0) ? -1.0 : 1.0);
    else if (fabs(devy) > fabs(devz))
        closest.y = center.y + halfheight * ((devy < 0.0) ? -1.0 : 1.0);
    else
        closest.z = center.z + halfdepth * ((devz < 0.0) ? -1.0 : 1.0);

    // Clamp to be inside box.
    closest.x = std::min<_Precision>(std::max<_Precision>(closest.x, MinX), MaxX);
    closest.y = std::min<_Precision>(std::max<_Precision>(closest.y, MinY), MaxY);
    closest.z = std::min<_Precision>(std::max<_Precision>(closest.z, MinZ), MaxZ);

    return closest;
#endif
}

template <class _Precision>
inline BoundBox2d BoundBox3<_Precision>::ProjectBox(const ViewProjMethod *pclP) const
{
    BoundBox2d  clBB2D;
    clBB2D.SetVoid();

    for (int i = 0; i < 8; i++) {
        Vector3<_Precision> clTrsPt = (*pclP)(CalcPoint(i));
        clBB2D.Add(Vector2d(clTrsPt.x, clTrsPt.y));
    }

    return clBB2D;
}

template <class _Precision>
inline BoundBox3<_Precision> BoundBox3<_Precision>::Transformed(const Matrix4D& mat) const
{
    BoundBox3<_Precision> bbox;
    for (int i=0; i<8; i++)
        bbox.Add(mat * CalcPoint(i));
    return bbox;
}

template <class _Precision>
inline Vector3<_Precision> BoundBox3<_Precision>::GetCenter (void) const
{
    return Vector3<_Precision>((MaxX + MinX) / 2,
                               (MaxY + MinY) / 2,
                               (MaxZ + MinZ) / 2);
}

template <class _Precision>
inline _Precision BoundBox3<_Precision>::CalcDiagonalLength (void) const
{
    return static_cast<_Precision>(sqrt (((MaxX - MinX) * (MaxX - MinX)) +
                                         ((MaxY - MinY) * (MaxY - MinY)) +
                                         ((MaxZ - MinZ) * (MaxZ - MinZ))));
}

template <class _Precision>
inline void BoundBox3<_Precision>::SetVoid (void)
{
    MinX = MinY = MinZ =  std::numeric_limits<_Precision>::max();
    MaxX = MaxY = MaxZ = -std::numeric_limits<_Precision>::max();
}

template <class _Precision>
inline void BoundBox3<_Precision>::Enlarge (_Precision fLen)
{
    MinX -= fLen; MinY -= fLen; MinZ -= fLen;
    MaxX += fLen; MaxY += fLen; MaxZ += fLen;
}

template <class _Precision>
inline void BoundBox3<_Precision>::Shrink (_Precision fLen)
{
    MinX += fLen; MinY += fLen; MinZ += fLen;
    MaxX -= fLen; MaxY -= fLen; MaxZ -= fLen;
}

template <class _Precision>
inline _Precision BoundBox3<_Precision>::LengthX (void) const
{
    return MaxX - MinX;
}

template <class _Precision>
inline _Precision BoundBox3<_Precision>::LengthY (void) const
{
    return MaxY - MinY;
}

template <class _Precision>
inline _Precision BoundBox3<_Precision>::LengthZ (void) const
{
    return MaxZ - MinZ;
}

template <class _Precision>
inline void BoundBox3<_Precision>::MoveX (_Precision f)
{
    MinX += f; MaxX += f;
}

template <class _Precision>
inline void BoundBox3<_Precision>::MoveY (_Precision f)
{
    MinY += f; MaxY += f;
}

template <class _Precision>
inline void BoundBox3<_Precision>::MoveZ (_Precision f)
{
    MinZ += f; MaxZ += f;
}

template <class _Precision>
inline void BoundBox3<_Precision>::ScaleX (_Precision f)
{
    MinX *= f; MaxX *= f;
}

template <class _Precision>
inline void BoundBox3<_Precision>::ScaleY (_Precision f)
{
    MinY *= f; MaxY *= f;
}

template <class _Precision>
inline void BoundBox3<_Precision>::ScaleZ (_Precision f)
{
    MinZ *= f; MaxZ *= f;
}

typedef BoundBox3<float> BoundBox3f;
typedef BoundBox3<double> BoundBox3d;

} // namespace Base

#endif  // BASE_BOUNDBOX_H