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Diffstat (limited to 'engine/src/core/com/jme3/math/LineSegment.java')
| -rw-r--r-- | engine/src/core/com/jme3/math/LineSegment.java | 631 |
1 files changed, 631 insertions, 0 deletions
diff --git a/engine/src/core/com/jme3/math/LineSegment.java b/engine/src/core/com/jme3/math/LineSegment.java new file mode 100644 index 0000000..c86619c --- /dev/null +++ b/engine/src/core/com/jme3/math/LineSegment.java @@ -0,0 +1,631 @@ +/*
+ * Copyright (c) 2009-2010 jMonkeyEngine
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * * Neither the name of 'jMonkeyEngine' nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+package com.jme3.math;
+
+import com.jme3.export.*;
+import com.jme3.util.TempVars;
+import java.io.IOException;
+
+/**
+ * <p>LineSegment represents a segment in the space. This is a portion of a Line
+ * that has a limited start and end points.</p>
+ * <p>A LineSegment is defined by an origin, a direction and an extent (or length).
+ * Direction should be a normalized vector. It is not internally normalized.</p>
+ * <p>This class provides methods to calculate distances between LineSegments, Rays and Vectors.
+ * It is also possible to retrieve both end points of the segment {@link LineSegment#getPositiveEnd(Vector3f)}
+ * and {@link LineSegment#getNegativeEnd(Vector3f)}. There are also methods to check whether
+ * a point is within the segment bounds.</p>
+ *
+ * @see Ray
+ * @author Mark Powell
+ * @author Joshua Slack
+ */
+public class LineSegment implements Cloneable, Savable, java.io.Serializable {
+
+ static final long serialVersionUID = 1;
+
+ private Vector3f origin;
+ private Vector3f direction;
+ private float extent;
+
+ public LineSegment() {
+ origin = new Vector3f();
+ direction = new Vector3f();
+ }
+
+ public LineSegment(LineSegment ls) {
+ this.origin = new Vector3f(ls.getOrigin());
+ this.direction = new Vector3f(ls.getDirection());
+ this.extent = ls.getExtent();
+ }
+
+ /**
+ * <p>Creates a new LineSegment with the given origin, direction and extent.</p>
+ * <p>Note that the origin is not one of the ends of the LineSegment, but its center.</p>
+ */
+ public LineSegment(Vector3f origin, Vector3f direction, float extent) {
+ this.origin = origin;
+ this.direction = direction;
+ this.extent = extent;
+ }
+
+ /**
+ * <p>Creates a new LineSegment with a given origin and end. This constructor will calculate the
+ * center, the direction and the extent.</p>
+ */
+ public LineSegment(Vector3f start, Vector3f end) {
+ this.origin = new Vector3f(0.5f * (start.x + end.x), 0.5f * (start.y + end.y), 0.5f * (start.z + end.z));
+ this.direction = end.subtract(start);
+ this.extent = direction.length() * 0.5f;
+ direction.normalizeLocal();
+ }
+
+ public void set(LineSegment ls) {
+ this.origin = new Vector3f(ls.getOrigin());
+ this.direction = new Vector3f(ls.getDirection());
+ this.extent = ls.getExtent();
+ }
+
+ public float distance(Vector3f point) {
+ return FastMath.sqrt(distanceSquared(point));
+ }
+
+ public float distance(LineSegment ls) {
+ return FastMath.sqrt(distanceSquared(ls));
+ }
+
+ public float distance(Ray r) {
+ return FastMath.sqrt(distanceSquared(r));
+ }
+
+ public float distanceSquared(Vector3f point) {
+ TempVars vars = TempVars.get();
+ Vector3f compVec1 = vars.vect1;
+
+ point.subtract(origin, compVec1);
+ float segmentParameter = direction.dot(compVec1);
+
+ if (-extent < segmentParameter) {
+ if (segmentParameter < extent) {
+ origin.add(direction.mult(segmentParameter, compVec1),
+ compVec1);
+ } else {
+ origin.add(direction.mult(extent, compVec1), compVec1);
+ }
+ } else {
+ origin.subtract(direction.mult(extent, compVec1), compVec1);
+ }
+
+ compVec1.subtractLocal(point);
+ float len = compVec1.lengthSquared();
+ vars.release();
+ return len;
+ }
+
+ public float distanceSquared(LineSegment test) {
+ TempVars vars = TempVars.get();
+ Vector3f compVec1 = vars.vect1;
+
+ origin.subtract(test.getOrigin(), compVec1);
+ float negativeDirectionDot = -(direction.dot(test.getDirection()));
+ float diffThisDot = compVec1.dot(direction);
+ float diffTestDot = -(compVec1.dot(test.getDirection()));
+ float lengthOfDiff = compVec1.lengthSquared();
+ vars.release();
+ float determinant = FastMath.abs(1.0f - negativeDirectionDot
+ * negativeDirectionDot);
+ float s0, s1, squareDistance, extentDeterminant0, extentDeterminant1, tempS0, tempS1;
+
+ if (determinant >= FastMath.FLT_EPSILON) {
+ // segments are not parallel
+ s0 = negativeDirectionDot * diffTestDot - diffThisDot;
+ s1 = negativeDirectionDot * diffThisDot - diffTestDot;
+ extentDeterminant0 = extent * determinant;
+ extentDeterminant1 = test.getExtent() * determinant;
+
+ if (s0 >= -extentDeterminant0) {
+ if (s0 <= extentDeterminant0) {
+ if (s1 >= -extentDeterminant1) {
+ if (s1 <= extentDeterminant1) // region 0 (interior)
+ {
+ // minimum at two interior points of 3D lines
+ float inverseDeterminant = ((float) 1.0)
+ / determinant;
+ s0 *= inverseDeterminant;
+ s1 *= inverseDeterminant;
+ squareDistance = s0
+ * (s0 + negativeDirectionDot * s1 + (2.0f) * diffThisDot)
+ + s1
+ * (negativeDirectionDot * s0 + s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else // region 3 (side)
+ {
+ s1 = test.getExtent();
+ tempS0 = -(negativeDirectionDot * s1 + diffThisDot);
+ if (tempS0 < -extent) {
+ s0 = -extent;
+ squareDistance = s0 * (s0 - (2.0f) * tempS0)
+ + s1 * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else if (tempS0 <= extent) {
+ s0 = tempS0;
+ squareDistance = -s0 * s0 + s1
+ * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else {
+ s0 = extent;
+ squareDistance = s0 * (s0 - (2.0f) * tempS0)
+ + s1 * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ }
+ }
+ } else // region 7 (side)
+ {
+ s1 = -test.getExtent();
+ tempS0 = -(negativeDirectionDot * s1 + diffThisDot);
+ if (tempS0 < -extent) {
+ s0 = -extent;
+ squareDistance = s0 * (s0 - (2.0f) * tempS0) + s1
+ * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else if (tempS0 <= extent) {
+ s0 = tempS0;
+ squareDistance = -s0 * s0 + s1
+ * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else {
+ s0 = extent;
+ squareDistance = s0 * (s0 - (2.0f) * tempS0) + s1
+ * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ }
+ }
+ } else {
+ if (s1 >= -extentDeterminant1) {
+ if (s1 <= extentDeterminant1) // region 1 (side)
+ {
+ s0 = extent;
+ tempS1 = -(negativeDirectionDot * s0 + diffTestDot);
+ if (tempS1 < -test.getExtent()) {
+ s1 = -test.getExtent();
+ squareDistance = s1 * (s1 - (2.0f) * tempS1)
+ + s0 * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else if (tempS1 <= test.getExtent()) {
+ s1 = tempS1;
+ squareDistance = -s1 * s1 + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else {
+ s1 = test.getExtent();
+ squareDistance = s1 * (s1 - (2.0f) * tempS1)
+ + s0 * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ }
+ } else // region 2 (corner)
+ {
+ s1 = test.getExtent();
+ tempS0 = -(negativeDirectionDot * s1 + diffThisDot);
+ if (tempS0 < -extent) {
+ s0 = -extent;
+ squareDistance = s0 * (s0 - (2.0f) * tempS0)
+ + s1 * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else if (tempS0 <= extent) {
+ s0 = tempS0;
+ squareDistance = -s0 * s0 + s1
+ * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else {
+ s0 = extent;
+ tempS1 = -(negativeDirectionDot * s0 + diffTestDot);
+ if (tempS1 < -test.getExtent()) {
+ s1 = -test.getExtent();
+ squareDistance = s1
+ * (s1 - (2.0f) * tempS1) + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else if (tempS1 <= test.getExtent()) {
+ s1 = tempS1;
+ squareDistance = -s1 * s1 + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else {
+ s1 = test.getExtent();
+ squareDistance = s1
+ * (s1 - (2.0f) * tempS1) + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ }
+ }
+ }
+ } else // region 8 (corner)
+ {
+ s1 = -test.getExtent();
+ tempS0 = -(negativeDirectionDot * s1 + diffThisDot);
+ if (tempS0 < -extent) {
+ s0 = -extent;
+ squareDistance = s0 * (s0 - (2.0f) * tempS0) + s1
+ * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else if (tempS0 <= extent) {
+ s0 = tempS0;
+ squareDistance = -s0 * s0 + s1
+ * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else {
+ s0 = extent;
+ tempS1 = -(negativeDirectionDot * s0 + diffTestDot);
+ if (tempS1 > test.getExtent()) {
+ s1 = test.getExtent();
+ squareDistance = s1 * (s1 - (2.0f) * tempS1)
+ + s0 * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else if (tempS1 >= -test.getExtent()) {
+ s1 = tempS1;
+ squareDistance = -s1 * s1 + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else {
+ s1 = -test.getExtent();
+ squareDistance = s1 * (s1 - (2.0f) * tempS1)
+ + s0 * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ }
+ }
+ }
+ }
+ } else {
+ if (s1 >= -extentDeterminant1) {
+ if (s1 <= extentDeterminant1) // region 5 (side)
+ {
+ s0 = -extent;
+ tempS1 = -(negativeDirectionDot * s0 + diffTestDot);
+ if (tempS1 < -test.getExtent()) {
+ s1 = -test.getExtent();
+ squareDistance = s1 * (s1 - (2.0f) * tempS1) + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else if (tempS1 <= test.getExtent()) {
+ s1 = tempS1;
+ squareDistance = -s1 * s1 + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else {
+ s1 = test.getExtent();
+ squareDistance = s1 * (s1 - (2.0f) * tempS1) + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ }
+ } else // region 4 (corner)
+ {
+ s1 = test.getExtent();
+ tempS0 = -(negativeDirectionDot * s1 + diffThisDot);
+ if (tempS0 > extent) {
+ s0 = extent;
+ squareDistance = s0 * (s0 - (2.0f) * tempS0) + s1
+ * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else if (tempS0 >= -extent) {
+ s0 = tempS0;
+ squareDistance = -s0 * s0 + s1
+ * (s1 + (2.0f) * diffTestDot)
+ + lengthOfDiff;
+ } else {
+ s0 = -extent;
+ tempS1 = -(negativeDirectionDot * s0 + diffTestDot);
+ if (tempS1 < -test.getExtent()) {
+ s1 = -test.getExtent();
+ squareDistance = s1 * (s1 - (2.0f) * tempS1)
+ + s0 * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else if (tempS1 <= test.getExtent()) {
+ s1 = tempS1;
+ squareDistance = -s1 * s1 + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else {
+ s1 = test.getExtent();
+ squareDistance = s1 * (s1 - (2.0f) * tempS1)
+ + s0 * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ }
+ }
+ }
+ } else // region 6 (corner)
+ {
+ s1 = -test.getExtent();
+ tempS0 = -(negativeDirectionDot * s1 + diffThisDot);
+ if (tempS0 > extent) {
+ s0 = extent;
+ squareDistance = s0 * (s0 - (2.0f) * tempS0) + s1
+ * (s1 + (2.0f) * diffTestDot) + lengthOfDiff;
+ } else if (tempS0 >= -extent) {
+ s0 = tempS0;
+ squareDistance = -s0 * s0 + s1
+ * (s1 + (2.0f) * diffTestDot) + lengthOfDiff;
+ } else {
+ s0 = -extent;
+ tempS1 = -(negativeDirectionDot * s0 + diffTestDot);
+ if (tempS1 < -test.getExtent()) {
+ s1 = -test.getExtent();
+ squareDistance = s1 * (s1 - (2.0f) * tempS1) + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else if (tempS1 <= test.getExtent()) {
+ s1 = tempS1;
+ squareDistance = -s1 * s1 + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ } else {
+ s1 = test.getExtent();
+ squareDistance = s1 * (s1 - (2.0f) * tempS1) + s0
+ * (s0 + (2.0f) * diffThisDot)
+ + lengthOfDiff;
+ }
+ }
+ }
+ }
+ } else {
+ // The segments are parallel. The average b0 term is designed to
+ // ensure symmetry of the function. That is, dist(seg0,seg1) and
+ // dist(seg1,seg0) should produce the same number.get
+ float extentSum = extent + test.getExtent();
+ float sign = (negativeDirectionDot > 0.0f ? -1.0f : 1.0f);
+ float averageB0 = (0.5f) * (diffThisDot - sign * diffTestDot);
+ float lambda = -averageB0;
+ if (lambda < -extentSum) {
+ lambda = -extentSum;
+ } else if (lambda > extentSum) {
+ lambda = extentSum;
+ }
+
+ squareDistance = lambda * (lambda + (2.0f) * averageB0)
+ + lengthOfDiff;
+ }
+
+ return FastMath.abs(squareDistance);
+ }
+
+ public float distanceSquared(Ray r) {
+ Vector3f kDiff = r.getOrigin().subtract(origin);
+ float fA01 = -r.getDirection().dot(direction);
+ float fB0 = kDiff.dot(r.getDirection());
+ float fB1 = -kDiff.dot(direction);
+ float fC = kDiff.lengthSquared();
+ float fDet = FastMath.abs(1.0f - fA01 * fA01);
+ float fS0, fS1, fSqrDist, fExtDet;
+
+ if (fDet >= FastMath.FLT_EPSILON) {
+ // The ray and segment are not parallel.
+ fS0 = fA01 * fB1 - fB0;
+ fS1 = fA01 * fB0 - fB1;
+ fExtDet = extent * fDet;
+
+ if (fS0 >= (float) 0.0) {
+ if (fS1 >= -fExtDet) {
+ if (fS1 <= fExtDet) // region 0
+ {
+ // minimum at interior points of ray and segment
+ float fInvDet = ((float) 1.0) / fDet;
+ fS0 *= fInvDet;
+ fS1 *= fInvDet;
+ fSqrDist = fS0
+ * (fS0 + fA01 * fS1 + ((float) 2.0) * fB0)
+ + fS1
+ * (fA01 * fS0 + fS1 + ((float) 2.0) * fB1) + fC;
+ } else // region 1
+ {
+ fS1 = extent;
+ fS0 = -(fA01 * fS1 + fB0);
+ if (fS0 > (float) 0.0) {
+ fSqrDist = -fS0 * fS0 + fS1
+ * (fS1 + ((float) 2.0) * fB1) + fC;
+ } else {
+ fS0 = (float) 0.0;
+ fSqrDist = fS1 * (fS1 + ((float) 2.0) * fB1) + fC;
+ }
+ }
+ } else // region 5
+ {
+ fS1 = -extent;
+ fS0 = -(fA01 * fS1 + fB0);
+ if (fS0 > (float) 0.0) {
+ fSqrDist = -fS0 * fS0 + fS1
+ * (fS1 + ((float) 2.0) * fB1) + fC;
+ } else {
+ fS0 = (float) 0.0;
+ fSqrDist = fS1 * (fS1 + ((float) 2.0) * fB1) + fC;
+ }
+ }
+ } else {
+ if (fS1 <= -fExtDet) // region 4
+ {
+ fS0 = -(-fA01 * extent + fB0);
+ if (fS0 > (float) 0.0) {
+ fS1 = -extent;
+ fSqrDist = -fS0 * fS0 + fS1
+ * (fS1 + ((float) 2.0) * fB1) + fC;
+ } else {
+ fS0 = (float) 0.0;
+ fS1 = -fB1;
+ if (fS1 < -extent) {
+ fS1 = -extent;
+ } else if (fS1 > extent) {
+ fS1 = extent;
+ }
+ fSqrDist = fS1 * (fS1 + ((float) 2.0) * fB1) + fC;
+ }
+ } else if (fS1 <= fExtDet) // region 3
+ {
+ fS0 = (float) 0.0;
+ fS1 = -fB1;
+ if (fS1 < -extent) {
+ fS1 = -extent;
+ } else if (fS1 > extent) {
+ fS1 = extent;
+ }
+ fSqrDist = fS1 * (fS1 + ((float) 2.0) * fB1) + fC;
+ } else // region 2
+ {
+ fS0 = -(fA01 * extent + fB0);
+ if (fS0 > (float) 0.0) {
+ fS1 = extent;
+ fSqrDist = -fS0 * fS0 + fS1
+ * (fS1 + ((float) 2.0) * fB1) + fC;
+ } else {
+ fS0 = (float) 0.0;
+ fS1 = -fB1;
+ if (fS1 < -extent) {
+ fS1 = -extent;
+ } else if (fS1 > extent) {
+ fS1 = extent;
+ }
+ fSqrDist = fS1 * (fS1 + ((float) 2.0) * fB1) + fC;
+ }
+ }
+ }
+ } else {
+ // ray and segment are parallel
+ if (fA01 > (float) 0.0) {
+ // opposite direction vectors
+ fS1 = -extent;
+ } else {
+ // same direction vectors
+ fS1 = extent;
+ }
+
+ fS0 = -(fA01 * fS1 + fB0);
+ if (fS0 > (float) 0.0) {
+ fSqrDist = -fS0 * fS0 + fS1 * (fS1 + ((float) 2.0) * fB1) + fC;
+ } else {
+ fS0 = (float) 0.0;
+ fSqrDist = fS1 * (fS1 + ((float) 2.0) * fB1) + fC;
+ }
+ }
+ return FastMath.abs(fSqrDist);
+ }
+
+ public Vector3f getDirection() {
+ return direction;
+ }
+
+ public void setDirection(Vector3f direction) {
+ this.direction = direction;
+ }
+
+ public float getExtent() {
+ return extent;
+ }
+
+ public void setExtent(float extent) {
+ this.extent = extent;
+ }
+
+ public Vector3f getOrigin() {
+ return origin;
+ }
+
+ public void setOrigin(Vector3f origin) {
+ this.origin = origin;
+ }
+
+ // P+e*D
+ public Vector3f getPositiveEnd(Vector3f store) {
+ if (store == null) {
+ store = new Vector3f();
+ }
+ return origin.add((direction.mult(extent, store)), store);
+ }
+
+ // P-e*D
+ public Vector3f getNegativeEnd(Vector3f store) {
+ if (store == null) {
+ store = new Vector3f();
+ }
+ return origin.subtract((direction.mult(extent, store)), store);
+ }
+
+ public void write(JmeExporter e) throws IOException {
+ OutputCapsule capsule = e.getCapsule(this);
+ capsule.write(origin, "origin", Vector3f.ZERO);
+ capsule.write(direction, "direction", Vector3f.ZERO);
+ capsule.write(extent, "extent", 0);
+ }
+
+ public void read(JmeImporter e) throws IOException {
+ InputCapsule capsule = e.getCapsule(this);
+ origin = (Vector3f) capsule.readSavable("origin", Vector3f.ZERO.clone());
+ direction = (Vector3f) capsule.readSavable("direction", Vector3f.ZERO.clone());
+ extent = capsule.readFloat("extent", 0);
+ }
+
+ @Override
+ public LineSegment clone() {
+ try {
+ LineSegment segment = (LineSegment) super.clone();
+ segment.direction = direction.clone();
+ segment.origin = origin.clone();
+ return segment;
+ } catch (CloneNotSupportedException e) {
+ throw new AssertionError();
+ }
+ }
+
+ /**
+ * <p>Evaluates whether a given point is contained within the axis aligned bounding box
+ * that contains this LineSegment.</p><p>This function is float error aware.</p>
+ */
+ public boolean isPointInsideBounds(Vector3f point) {
+ return isPointInsideBounds(point, Float.MIN_VALUE);
+ }
+
+ /**
+ * <p>Evaluates whether a given point is contained within the axis aligned bounding box
+ * that contains this LineSegment.</p><p>This function accepts an error parameter, which
+ * is added to the extent of the bounding box.</p>
+ */
+ public boolean isPointInsideBounds(Vector3f point, float error) {
+
+ if (FastMath.abs(point.x - origin.x) > FastMath.abs(direction.x * extent) + error) {
+ return false;
+ }
+ if (FastMath.abs(point.y - origin.y) > FastMath.abs(direction.y * extent) + error) {
+ return false;
+ }
+ if (FastMath.abs(point.z - origin.z) > FastMath.abs(direction.z * extent) + error) {
+ return false;
+ }
+
+ return true;
+ }
+}
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