RayCastOctreeObject.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/RayCastOctreeObject.h              **
** Module : ICLGeom                                                **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLUtils/CompatMacros.h>
#include <ICLGeom/OctreeObject.h>
#include <ICLGeom/ViewRay.h>
#include <vector>

namespace icl{
  namespace geom {


    class RayCastOctreeObject : public OctreeObject<float, 16, 1, Vec, 1024>{
      typedef OctreeObject<float,16,1,Vec,1024> Super;
      public:
      RayCastOctreeObject(const float &minX, const float &minY, const float &minZ,
                           const float &width, const float &height, const float &depth):
        Super(minX,minY,minZ,width,height,depth){}

      RayCastOctreeObject(const float &min, const float &len):Super(min,len){}


      ~RayCastOctreeObject(){}


      protected:

      static void ray_cast_sqr_rec(const Super::Node *n, const ViewRay &ray,
                                   float maxSqrDist, float maxDist,
                                   std::vector<Vec> &result);

      static void ray_cast_sqr_rec_debug(const RayCastOctreeObject::Super::Node *n, const ViewRay &ray,
                                         float maxSqrDist, float maxDist,
                                         std::vector<Vec> &result,
                                         std::vector<AABB> &boxes, std::vector<Vec> &points);
      public:

      ICLGeom_API std::vector<Vec> rayCast(const ViewRay &ray, float maxDist=1) const;

      ICLGeom_API std::vector<Vec> rayCastDebug(const ViewRay &ray, float maxDist,
                                                std::vector<AABB> &boxes, std::vector<Vec> &points) const;

      ICLGeom_API std::vector<Vec> rayCastSort(const ViewRay &ray, float maxDist = 1) const;

      ICLGeom_API Vec rayCastClosest(const ViewRay &ray, float maxDist = 1) const ;
    };

  }
}