665 lines
24 KiB
C++
665 lines
24 KiB
C++
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/////////////////////////////////////////////////////////////////////
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// Created by Dan Andersson 2013
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/////////////////////////////////////////////////////////////////////
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#include "Collision.h"
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#include "Utilities.h"
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#include <limits>
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using namespace Oyster::Math;
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namespace Oyster { namespace Collision { namespace Utility
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{
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// PRIVATE HEADER ///////////////////////////////////////////////////
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namespace Private
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{
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const Float epsilon = (const Float)1e-20;
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// Float calculations can suffer roundingerrors. Which is where epsilon = 1e-20 comes into the picture
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inline bool equalsZero( const Float &value )
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{ // by Dan Andersson
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return ::Utility::Value::abs( value ) < epsilon;
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}
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// Float calculations can suffer roundingerrors. Which is where epsilon = 1e-20 comes into the picture
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inline bool notEqualsZero( const Float &value )
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{ // by Dan Andersson
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return ::Utility::Value::abs( value ) > epsilon;
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}
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// returns true if miss/reject
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bool boxVsRayPerSlabCheck( const Float3 &axis, const Float &boundingOffset, const Float3 &deltaPos, const Float3 rayDirection, Float &tMin, Float &tMax )
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{ // by Dan Andersson
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Float e = axis.dot( deltaPos ),
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f = axis.dot( rayDirection );
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if( equalsZero(f) ) // if axis is not parallell with ray
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{
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Float t1 = e + boundingOffset,
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t2 = e - boundingOffset;
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t1 /= f; t2 /= f;
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if( t1 > t2 ) ::Utility::Element::swap( t1, t2 );
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tMin = ::Utility::Value::max( tMin, t1 );
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tMax = ::Utility::Value::min( tMax, t2 );
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if( tMin > tMax ) return true;
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if( tMax < 0.0f ) return true;
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}
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else if( boundingOffset < -e ) return true;
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else if( boundingOffset < e ) return true;
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return false;
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}
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inline bool contains( const Plane &container, const Float3 &pos )
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{ // by Dan Andersson
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return equalsZero( container.normal.dot( pos ) + container.phasing );
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}
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inline void compare( Float &connectOffset, const Plane &plane, const Float3 &pos )
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{ // by Dan Andersson
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connectOffset = plane.normal.dot(pos);
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connectOffset += plane.phasing;
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}
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void compare( Float &boxExtend, Float ¢erDistance, const Plane &plane, const BoxAxisAligned &box )
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{ // by Dan Andersson
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Float3 c = (box.maxVertex + box.minVertex) * 0.5f, // box.Center
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h = (box.maxVertex - box.minVertex) * 0.5f; // box.halfSize
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boxExtend = h.x * ::Utility::Value::abs(plane.normal.x); // Box max extending towards plane
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boxExtend += h.y * ::Utility::Value::abs(plane.normal.y);
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boxExtend += h.z * ::Utility::Value::abs(plane.normal.z);
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centerDistance = c.dot(plane.normal) + plane.phasing; // distance between box center and plane
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}
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void compare( Float &boxExtend, Float ¢erDistance, const Plane &plane, const Box &box )
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{ // by Dan Andersson
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boxExtend = box.boundingOffset.x * ::Utility::Value::abs(plane.normal.dot(box.orientation.v[0].xyz)); // Box max extending towards plane
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boxExtend += box.boundingOffset.y * ::Utility::Value::abs(plane.normal.dot(box.orientation.v[1].xyz));
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boxExtend += box.boundingOffset.z * ::Utility::Value::abs(plane.normal.dot(box.orientation.v[2].xyz));
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centerDistance = box.orientation.v[3].xyz.dot(plane.normal) + plane.phasing; // distance between box center and plane
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}
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bool fifteenAxisVsAlignedAxisOverlappingChecks( const Float3 &boundingOffsetA, const Float3 &boundingOffsetB, const Float4x4 &orientationB )
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{ // by Dan Andersson
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Float4x4 absOrientationB;
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{
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Float4x4 tO = orientationB.getTranspose();
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absOrientationB.v[0] = ::Utility::Value::abs(tO.v[0]);
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if( absOrientationB.v[0].w > boundingOffsetA.x + boundingOffsetB.dot(absOrientationB.v[0].xyz) ) return false;
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absOrientationB.v[1] = ::Utility::Value::abs(tO.v[1]);
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if( absOrientationB.v[1].w > boundingOffsetA.y + boundingOffsetB.dot(absOrientationB.v[1].xyz) ) return false;
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absOrientationB.v[2] = ::Utility::Value::abs(tO.v[2]);
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if( absOrientationB.v[2].w > boundingOffsetA.z + boundingOffsetB.dot(absOrientationB.v[2].xyz) ) return false;
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}
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absOrientationB.transpose();
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if( ::Utility::Value::abs(orientationB.v[3].dot(orientationB.v[0])) > boundingOffsetB.x + boundingOffsetA.dot(absOrientationB.v[0].xyz) ) return false;
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if( ::Utility::Value::abs(orientationB.v[3].dot(orientationB.v[1])) > boundingOffsetB.x + boundingOffsetA.dot(absOrientationB.v[1].xyz) ) return false;
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if( ::Utility::Value::abs(orientationB.v[3].dot(orientationB.v[2])) > boundingOffsetB.x + boundingOffsetA.dot(absOrientationB.v[2].xyz) ) return false;
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// ( 1,0,0 ) x orientationB.v[0].xyz:
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Float d = boundingOffsetA.y * absOrientationB.v[0].z;
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d += boundingOffsetA.z * absOrientationB.v[0].y;
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d += boundingOffsetB.y * absOrientationB.v[2].x;
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d += boundingOffsetB.z * absOrientationB.v[1].x;
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if( ::Utility::Value::abs(orientationB.v[3].z*orientationB.v[0].y - orientationB.v[3].y*orientationB.v[0].z) > d ) return false;
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// ( 1,0,0 ) x orientationB.v[1].xyz:
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d = boundingOffsetA.y * absOrientationB.v[1].z;
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d += boundingOffsetA.z * absOrientationB.v[1].y;
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d += boundingOffsetB.x * absOrientationB.v[2].x;
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d += boundingOffsetB.z * absOrientationB.v[0].x;
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if( ::Utility::Value::abs(orientationB.v[3].z*orientationB.v[1].y - orientationB.v[3].y*orientationB.v[1].z) > d ) return false;
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// ( 1,0,0 ) x orientationB.v[2].xyz:
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d = boundingOffsetA.y * absOrientationB.v[2].z;
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d += boundingOffsetA.z * absOrientationB.v[2].y;
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d += boundingOffsetB.x * absOrientationB.v[1].x;
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d += boundingOffsetB.y * absOrientationB.v[0].x;
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if( ::Utility::Value::abs(orientationB.v[3].z*orientationB.v[2].y - orientationB.v[3].y*orientationB.v[2].z) > d ) return false;
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// ( 0,1,0 ) x orientationB.v[0].xyz:
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d = boundingOffsetA.x * absOrientationB.v[0].z;
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d += boundingOffsetA.z * absOrientationB.v[0].x;
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d += boundingOffsetB.y * absOrientationB.v[2].y;
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d += boundingOffsetB.z * absOrientationB.v[1].y;
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if( ::Utility::Value::abs(orientationB.v[3].x*orientationB.v[0].z - orientationB.v[3].z*orientationB.v[0].x) > d ) return false;
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// ( 0,1,0 ) x orientationB.v[1].xyz:
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d = boundingOffsetA.x * absOrientationB.v[1].z;
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d += boundingOffsetA.z * absOrientationB.v[1].x;
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d += boundingOffsetB.x * absOrientationB.v[2].y;
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d += boundingOffsetB.z * absOrientationB.v[0].y;
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if( ::Utility::Value::abs(orientationB.v[3].x*orientationB.v[1].z - orientationB.v[3].z*orientationB.v[1].x) > d ) return false;
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// ( 0,1,0 ) x orientationB.v[2].xyz:
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d = boundingOffsetA.x * absOrientationB.v[2].z;
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d += boundingOffsetA.z * absOrientationB.v[2].x;
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d += boundingOffsetB.x * absOrientationB.v[1].y;
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d += boundingOffsetB.y * absOrientationB.v[0].y;
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if( ::Utility::Value::abs(orientationB.v[3].x*orientationB.v[2].z - orientationB.v[3].z*orientationB.v[2].x) > d ) return false;
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// ( 0,0,1 ) x orientationB.v[0].xyz:
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d = boundingOffsetA.x * absOrientationB.v[0].y;
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d += boundingOffsetA.y * absOrientationB.v[0].x;
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d += boundingOffsetB.y * absOrientationB.v[2].z;
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d += boundingOffsetB.z * absOrientationB.v[1].z;
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if( ::Utility::Value::abs(orientationB.v[3].y*orientationB.v[0].x - orientationB.v[3].x*orientationB.v[0].y) > d ) return false;
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// ( 0,0,1 ) x orientationB.v[1].xyz:
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d = boundingOffsetA.x * absOrientationB.v[1].y;
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d += boundingOffsetA.y * absOrientationB.v[1].x;
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d += boundingOffsetB.x * absOrientationB.v[2].z;
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d += boundingOffsetB.z * absOrientationB.v[0].z;
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if( ::Utility::Value::abs(orientationB.v[3].y*orientationB.v[1].x - orientationB.v[3].x*orientationB.v[1].y) > d ) return false;
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// ( 0,0,1 ) x orientationB.v[2].xyz:
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d = boundingOffsetA.x * absOrientationB.v[2].y;
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d += boundingOffsetA.y * absOrientationB.v[2].x;
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d += boundingOffsetB.x * absOrientationB.v[1].z;
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d += boundingOffsetB.y * absOrientationB.v[0].z;
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if( ::Utility::Value::abs(orientationB.v[3].y*orientationB.v[2].x - orientationB.v[3].x*orientationB.v[2].y) > d ) return false;
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return true;
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}
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}
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// PUBLIC BODY //////////////////////////////////////////////////////
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void compare( Float &connectDistance, Float &connectOffsetSquared, const Ray &ray, const Point &point )
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{ // by Dan Andersson
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Float3 dP = point.position - ray.origin;
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connectDistance = dP.dot( ray.direction );
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connectDistance /= ray.direction.dot( ray.direction );
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dP -= ( connectDistance * ray.direction );
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connectOffsetSquared = dP.dot( dP );
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}
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void compare( Float &connectDistanceA, Float &connectDistanceB, Float &connectOffsetSquared, const Ray &rayA, const Ray &rayB )
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{ // by Dan Andersson
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Float3 dP = rayB.origin - rayA.origin;
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connectDistanceA = rayA.direction.dot( dP );
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connectDistanceA /= rayA.direction.dot( rayA.direction );
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dP *= -1.0f;
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connectDistanceB = rayB.direction.dot( dP );
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connectDistanceB /= rayB.direction.dot( rayB.direction );
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dP = rayA.direction * connectDistanceA;
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dP += rayA.origin;
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dP -= rayB.direction * connectDistanceB;
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dP -= rayB.origin;
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connectOffsetSquared = dP.dot( dP );
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}
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void compare( Float &connectOffset, const Plane &plane, const Point &point )
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{ // by Dan Andersson
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Private::compare( connectOffset, plane, point.position );
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}
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bool intersect( const Point &pointA, const Point &pointB )
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{ // by Fredrick Johansson
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if (pointA.position.x != pointB.position.x) return false;
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if (pointA.position.y != pointB.position.y) return false;
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if (pointA.position.z != pointB.position.z) return false;
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return true; // Passed all tests, is in same position
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}
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bool intersect( const Ray &ray, const Point &point, Float &connectDistance )
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{ // by Dan Andersson
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Float connectOffsetSquared;
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compare( connectDistance, connectOffsetSquared, ray, point );
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if( Private::equalsZero(connectOffsetSquared) )
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{
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connectOffsetSquared = 0.0f;
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return true;
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}
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connectDistance = 0.0f;
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return false;
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}
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bool intersect( const Ray &rayA, const Ray &rayB, Float &connectDistanceA, Float &connectDistanceB )
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{ // by Dan Andersson
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Float connectOffsetSquared;
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compare( connectDistanceA, connectDistanceB, connectOffsetSquared, rayA, rayB );
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if( Private::equalsZero(connectOffsetSquared) )
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{
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connectOffsetSquared = 0.0f;
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return true;
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}
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connectDistanceA = connectDistanceB = 0.0f;
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return false;
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}
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bool intersect( const Sphere &sphere, const Point &point )
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{ // by Dan Andersson
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Float3 dP = point.position - sphere.center;
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if( dP.dot(dP) > (sphere.radius * sphere.radius) )
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return false;
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return true;
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}
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bool intersect( const Sphere &sphere, const Ray &ray, Float &connectDistance )
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{// by Dan Andersson
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Float3 dP = sphere.center - ray.origin;
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Float s = dP.dot( ray.direction ),
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dSquared = dP.dot( dP ),
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rSquared = sphere.radius * sphere.radius;
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if( dSquared <= rSquared ) { connectDistance = 0.0f; return true; }
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else if( s < 0.0f ) { connectDistance = 0.0f; return false; }
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Float mSquared = dSquared - (s*s);
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if( mSquared > rSquared ) { connectDistance = 0.0f; return false; }
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Float q = ::std::sqrt( rSquared - mSquared );
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if( dSquared > rSquared ) connectDistance = s - q;
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else connectDistance = s + q;
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return true;
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}
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bool intersect( const Sphere &sphereA, const Sphere &sphereB )
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{ // by Fredrick Johansson
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Float3 C = sphereA.center;
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C -= sphereB.center;
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Float r = (sphereA.radius + sphereB.radius);
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if (r*r >= C.dot(C))
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{
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return true; // Intersect detected!
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}
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return false;
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}
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bool intersect( const Plane &plane, const Point &point )
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{ // by Dan Andersson
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Float connectOffset;
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Private::compare( connectOffset, plane, point.position );
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return Private::equalsZero(connectOffset);
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}
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bool intersect( const Plane &plane, const Ray &ray, Float &connectDistance )
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{ // by Dan Andersson
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Float c = plane.normal.dot(ray.direction);
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if( Private::equalsZero(c) )
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{ // ray is parallell with the plane. (ray direction orthogonal with the planar normal)
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connectDistance = 0.0f;
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return contains( plane, ray.origin );
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}
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connectDistance = -plane.phasing;
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connectDistance -= plane.normal.dot( ray.origin );
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connectDistance /= c;
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if( connectDistance > 0.0f )
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return true;
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connectDistance = 0.0f;
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return false;
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}
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bool intersect( const Plane &plane, const Sphere &sphere )
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{ // by Dan Andersson
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Float connectOffset;
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Private::compare( connectOffset, plane, sphere.center );
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return (connectOffset <= sphere.radius);
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}
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bool intersect( const Plane &planeA, const Plane &planeB )
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{ // by Dan Andersson
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if( planeA.normal == planeB.normal ) // they are parallell
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return (planeA.phasing == planeB.phasing);
|
||
|
|
else if( planeA.normal == -planeB.normal ) // they are still parallell
|
||
|
|
return (planeA.phasing == -planeB.phasing);
|
||
|
|
return true; // none parallell planes ALWAYS intersects somewhere
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const BoxAxisAligned &box, const Point &point )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
if( point.position.x < box.minVertex.x ) return false;
|
||
|
|
if( point.position.x > box.maxVertex.x ) return false;
|
||
|
|
if( point.position.y < box.minVertex.y ) return false;
|
||
|
|
if( point.position.y > box.maxVertex.y ) return false;
|
||
|
|
if( point.position.z < box.minVertex.z ) return false;
|
||
|
|
if( point.position.z > box.maxVertex.z ) return false;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const BoxAxisAligned &box, const Ray &ray, Float &connectDistance )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float tMin = ::std::numeric_limits<Float>::max(),
|
||
|
|
tMax = -tMin; // initiating to extremevalues
|
||
|
|
|
||
|
|
Float3 boundingOffset = ((box.maxVertex - box.minVertex) * 0.5f),
|
||
|
|
dP = ((box.maxVertex + box.minVertex) * 0.5f) - ray.origin;
|
||
|
|
if( Private::boxVsRayPerSlabCheck( Float3::standardUnitX, boundingOffset.x, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; }
|
||
|
|
if( Private::boxVsRayPerSlabCheck( Float3::standardUnitY, boundingOffset.y, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; }
|
||
|
|
if( Private::boxVsRayPerSlabCheck( Float3::standardUnitZ, boundingOffset.z, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; }
|
||
|
|
|
||
|
|
if( tMin > 0.0f ) connectDistance = tMin;
|
||
|
|
else connectDistance = tMax;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const BoxAxisAligned &box, const Sphere &sphere )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float3 e = ::Utility::Value::max( box.minVertex - sphere.center, Float3::null );
|
||
|
|
e += ::Utility::Value::max( sphere.center - box.maxVertex, Float3::null );
|
||
|
|
|
||
|
|
if( e.dot(e) > (sphere.radius * sphere.radius) ) return false;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const BoxAxisAligned &box, const Plane &plane )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float e, d;
|
||
|
|
Private::compare( e, d, plane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
if( d + e < 0.0f ) return false; // is above
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
// bool intersect( const BoxAxisAligned &box, const Triangle &triangle )
|
||
|
|
// { return false; /* TODO */ }
|
||
|
|
|
||
|
|
bool intersect( const BoxAxisAligned &boxA, const BoxAxisAligned &boxB )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
if( boxA.maxVertex.x < boxB.minVertex.x ) return false;
|
||
|
|
if( boxA.minVertex.x > boxB.maxVertex.x ) return false;
|
||
|
|
if( boxA.maxVertex.y < boxB.minVertex.y ) return false;
|
||
|
|
if( boxA.minVertex.y > boxB.maxVertex.y ) return false;
|
||
|
|
if( boxA.maxVertex.z < boxB.minVertex.z ) return false;
|
||
|
|
if( boxA.minVertex.z > boxB.maxVertex.z ) return false;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Box &box, const Point &point )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float3 dPos = point.position - box.orientation.v[3].xyz;
|
||
|
|
|
||
|
|
Float coordinate = dPos.dot( box.orientation.v[0].xyz );
|
||
|
|
if( coordinate > box.boundingOffset.x ) return false;
|
||
|
|
if( coordinate < -box.boundingOffset.x ) return false;
|
||
|
|
|
||
|
|
coordinate = dPos.dot( box.orientation.v[1].xyz );
|
||
|
|
if( coordinate > box.boundingOffset.y ) return false;
|
||
|
|
if( coordinate < -box.boundingOffset.y ) return false;
|
||
|
|
|
||
|
|
coordinate = dPos.dot( box.orientation.v[2].xyz );
|
||
|
|
if( coordinate > box.boundingOffset.z ) return false;
|
||
|
|
if( coordinate < -box.boundingOffset.z ) return false;
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Box &box, const Ray &ray, Float &connectDistance )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float tMin = ::std::numeric_limits<Float>::max(),
|
||
|
|
tMax = -tMin; // initiating to extremevalues
|
||
|
|
|
||
|
|
Float3 dP = box.center - ray.origin;
|
||
|
|
if( Private::boxVsRayPerSlabCheck( box.xAxis, box.boundingOffset.x, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; }
|
||
|
|
if( Private::boxVsRayPerSlabCheck( box.yAxis, box.boundingOffset.y, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; }
|
||
|
|
if( Private::boxVsRayPerSlabCheck( box.zAxis, box.boundingOffset.z, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; }
|
||
|
|
|
||
|
|
if( tMin > 0.0f ) connectDistance = tMin;
|
||
|
|
else connectDistance = tMax;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Box &box, const Sphere &sphere )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float3 e = sphere.center - box.orientation.v[3].xyz,
|
||
|
|
centerL = Float3( e.dot(box.orientation.v[0].xyz), e.dot(box.orientation.v[1].xyz), e.dot(box.orientation.v[2].xyz) );
|
||
|
|
|
||
|
|
e = ::Utility::Value::max( (box.boundingOffset + centerL)*=-1.0f, Float3::null );
|
||
|
|
e += ::Utility::Value::max( centerL - box.boundingOffset, Float3::null );
|
||
|
|
|
||
|
|
if( e.dot(e) > (sphere.radius * sphere.radius) ) return false;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Box &box, const Plane &plane )
|
||
|
|
{// by Dan Andersson
|
||
|
|
Float e, d;
|
||
|
|
Private::compare( e, d, plane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
if( d + e < 0.0f ) return false; // is above
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Box &boxA, const BoxAxisAligned &boxB )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float3 alignedOffsetBoundaries = boxB.maxVertex - boxB.minVertex;
|
||
|
|
Float4x4 translated = boxA.orientation;
|
||
|
|
translated.v[3].xyz -= boxB.minVertex;
|
||
|
|
translated.v[3].xyz += alignedOffsetBoundaries * 0.5f;
|
||
|
|
alignedOffsetBoundaries = ::Utility::Value::abs(alignedOffsetBoundaries);
|
||
|
|
return Private::fifteenAxisVsAlignedAxisOverlappingChecks( alignedOffsetBoundaries, boxA.boundingOffset, translated );
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Box &boxA, const Box &boxB )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float4x4 M;
|
||
|
|
inverseRigidBodyMatrix( M, boxA.orientation );
|
||
|
|
transformMatrix( M, boxB.orientation, M );
|
||
|
|
return Private::fifteenAxisVsAlignedAxisOverlappingChecks( boxA.boundingOffset, boxB.boundingOffset, M );
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Frustrum &frustrum, const Point &point )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float connectOffset;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.leftPlane, point.position );
|
||
|
|
if( connectOffset < 0.0f ) return false;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.rightPlane, point.position );
|
||
|
|
if( connectOffset < 0.0f ) return false;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.bottomPlane, point.position );
|
||
|
|
if( connectOffset < 0.0f) return false;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.topPlane, point.position );
|
||
|
|
if( connectOffset < 0.0f) return false;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.nearPlane, point.position );
|
||
|
|
if( connectOffset < 0.0f ) return false;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.farPlane, point.position );
|
||
|
|
if( connectOffset < 0.0f ) return false;
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Frustrum &frustrum, const Ray &ray, Float &connectDistance )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
bool intersected = false;
|
||
|
|
Float distance = 0.0f;
|
||
|
|
connectDistance = ::std::numeric_limits<Float>::max();
|
||
|
|
|
||
|
|
if( intersect(frustrum.leftPlane, ray, distance) )
|
||
|
|
{
|
||
|
|
intersected = true;
|
||
|
|
connectDistance = ::Utility::Value::min( connectDistance, distance );
|
||
|
|
}
|
||
|
|
|
||
|
|
if( intersect(frustrum.rightPlane, ray, distance) )
|
||
|
|
{
|
||
|
|
intersected = true;
|
||
|
|
connectDistance = ::Utility::Value::min( connectDistance, distance );
|
||
|
|
}
|
||
|
|
|
||
|
|
if( intersect(frustrum.bottomPlane, ray, distance) )
|
||
|
|
{
|
||
|
|
intersected = true;
|
||
|
|
connectDistance = ::Utility::Value::min( connectDistance, distance );
|
||
|
|
}
|
||
|
|
|
||
|
|
if( intersect(frustrum.topPlane, ray, distance) )
|
||
|
|
{
|
||
|
|
intersected = true;
|
||
|
|
connectDistance = ::Utility::Value::min( connectDistance, distance );
|
||
|
|
}
|
||
|
|
|
||
|
|
if( intersect(frustrum.nearPlane, ray, distance) )
|
||
|
|
{
|
||
|
|
intersected = true;
|
||
|
|
connectDistance = ::Utility::Value::min( connectDistance, distance );
|
||
|
|
}
|
||
|
|
|
||
|
|
if( intersect(frustrum.farPlane, ray, distance) )
|
||
|
|
{
|
||
|
|
intersected = true;
|
||
|
|
connectDistance = ::Utility::Value::min( connectDistance, distance );
|
||
|
|
}
|
||
|
|
|
||
|
|
if( intersected ) return true;
|
||
|
|
|
||
|
|
connectDistance = 0.0f;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Frustrum &frustrum, const Sphere &sphere )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float connectOffset;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.leftPlane, sphere.center );
|
||
|
|
if( connectOffset < -sphere.radius ) return false;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.rightPlane, sphere.center );
|
||
|
|
if( connectOffset < -sphere.radius ) return false;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.bottomPlane, sphere.center );
|
||
|
|
if( connectOffset < -sphere.radius ) return false;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.topPlane, sphere.center );
|
||
|
|
if( connectOffset < -sphere.radius ) return false;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.nearPlane, sphere.center );
|
||
|
|
if( connectOffset < -sphere.radius ) return false;
|
||
|
|
|
||
|
|
Private::compare( connectOffset, frustrum.farPlane, sphere.center );
|
||
|
|
if( connectOffset < -sphere.radius ) return false;
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Frustrum &frustrum, const Plane &plane )
|
||
|
|
{
|
||
|
|
return false; // TODO
|
||
|
|
}
|
||
|
|
|
||
|
|
// bool intersect( const Frustrum &frustrum, const Triangle &triangle, ? );
|
||
|
|
|
||
|
|
bool intersect( const Frustrum &frustrum, const BoxAxisAligned &box )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float e, d;
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.leftPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.rightPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.bottomPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.topPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.nearPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.farPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Frustrum &frustrum, const Box &box )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
Float e, d;
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.leftPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.rightPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.bottomPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.topPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.nearPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
Private::compare( e, d, frustrum.farPlane, box );
|
||
|
|
if( d - e > 0.0f ) return false; // is beneath
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool intersect( const Frustrum &frustrumA, const Frustrum &frustrumB )
|
||
|
|
{
|
||
|
|
return false; // TODO
|
||
|
|
}
|
||
|
|
|
||
|
|
bool contains( const Ray &container, const Ray &ray )
|
||
|
|
{
|
||
|
|
return false; /*TODO*/
|
||
|
|
}
|
||
|
|
|
||
|
|
bool contains( const Sphere &sphereA, const Sphere &sphereB )
|
||
|
|
{ // by Fredrick Johansson
|
||
|
|
// Check if SphereB is larger than sphereA
|
||
|
|
if (sphereA.radius < sphereB.radius)
|
||
|
|
{
|
||
|
|
return false; // Is impossible, yes
|
||
|
|
}
|
||
|
|
|
||
|
|
// Calc distance from center to center
|
||
|
|
Float3 d = sphereB.center - sphereA.center;
|
||
|
|
Float deltaR = sphereA.radius - sphereB.radius;
|
||
|
|
|
||
|
|
// Check if contained
|
||
|
|
if (d.dot(d) <= (deltaR*deltaR))
|
||
|
|
{
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Not contained
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool contains( const Plane &container, const Point &point )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
return Private::contains( container, point.position );
|
||
|
|
}
|
||
|
|
|
||
|
|
bool contains( const Plane &container, const Ray &ray )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
if( Private::notEqualsZero(container.normal.dot(ray.direction)) ) return false;
|
||
|
|
return contains( container, ray.origin );
|
||
|
|
}
|
||
|
|
|
||
|
|
bool contains( const Plane &container, const Plane &plane )
|
||
|
|
{ // by Dan Andersson
|
||
|
|
if( container.phasing == plane.phasing )
|
||
|
|
return container.normal == plane.normal;
|
||
|
|
if( container.phasing == -plane.phasing )
|
||
|
|
return container.normal == -plane.normal;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
} } }
|