1107 lines
36 KiB
C++
1107 lines
36 KiB
C++
/////////////////////////////////////////////////////////////////////
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// Created by Dan Andersson 2013
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/////////////////////////////////////////////////////////////////////
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#include "OysterCollision3D.h"
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#include "Utilities.h"
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#include <limits>
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using namespace ::Oyster::Math3D;
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using namespace ::Utility::Value;
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namespace Oyster { namespace Collision3D { 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 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 Abs( value ) > epsilon;
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}
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// returns true if miss/reject
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bool BoxVsRayPerSlabCheck( const Float4 &axis, const Float &boundingOffset, const Float4 &deltaPos, const Float4 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 = Max( tMin, t1 );
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tMax = 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 Float4 &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 Float4 &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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Float4 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 * Abs(plane.normal.x); // Box max extending towards plane
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boxExtend += h.y * Abs(plane.normal.y);
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boxExtend += h.z * 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 * Abs(plane.normal.Dot(box.xAxis)); // Box max extending towards plane
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boxExtend += box.boundingOffset.y * Abs(plane.normal.Dot(box.yAxis));
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boxExtend += box.boundingOffset.z * Abs(plane.normal.Dot(box.zAxis));
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centerDistance = box.center.Dot(plane.normal) + plane.phasing; // distance between box center and plane
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}
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bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float4 &boundingOffsetA, const Float4 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset )
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{ // by Dan Andersson
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/*****************************************************************
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* Uses the Seperating Axis Theorem
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* if( |t dot s| > hA dot |s * RA| + hB dot |s * RB| ) then not intersecting
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* |t dot s| > hA dot |s| + hB dot |s * RB| .. as RA = I
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*
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* t: objectB's offset from objectA [worldOffset]
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* s: current comparison axis
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* hA: boundingReach vector of objectA. Only absolute values is assumed. [boundingOffsetA]
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* hB: boundingReach vector of objectB. Only absolute values is assumed. [boundingOffsetB]
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* RA: rotation matrix of objectA. Is identity matrix here, thus omitted.
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* RB: rotation matrix of objectB. Is transformed into objectA's view at this point. [rotationB]
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*
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* Note: s * RB = (RB^T * s)^T = (RB^-1 * s)^T .... vector == vector^T
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*****************************************************************/
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Float4x4 absRotationB = Abs(rotationB);
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Float3 absWorldOffset = Abs(worldOffset); // |t|: [absWorldOffset]
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// s = { 1, 0, 0 } [ RA.v[0] ]
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if( absWorldOffset.x > boundingOffsetA.x + boundingOffsetB.Dot(Float4(absRotationB.v[0].x, absRotationB.v[1].x, absRotationB.v[2].x, 0.0f)) )
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{ // |t dot s| > hA dot |s| + hB dot |s * RB| -->> t.x > hA.x + hB dot |{RB.v[0].x, RB.v[1].x, RB.v[2].x}|
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return false;
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}
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// s = { 0, 1, 0 } [ RA.v[1] ]
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if( absWorldOffset.y > boundingOffsetA.y + boundingOffsetB.Dot(Float4(absRotationB.v[0].y, absRotationB.v[1].y, absRotationB.v[2].y, 0.0f)) )
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{ // t.y > hA.y + hB dot |{RB.v[0].y, RB.v[1].y, RB.v[2].y}|
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return false;
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}
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// s = { 0, 0, 1 } [ RA.v[2] ]
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if( absWorldOffset.z > boundingOffsetA.z + boundingOffsetB.Dot(Float4(absRotationB.v[0].z, absRotationB.v[1].z, absRotationB.v[2].z, 0.0f)) )
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{ // t.z > hA.z + hB dot |{RB.v[0].z, RB.v[1].z, RB.v[2].z}|
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return false;
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}
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// s = RB.v[0].xyz
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if( Abs(worldOffset.Dot(rotationB.v[0])) > boundingOffsetA.Dot(absRotationB.v[0]) + boundingOffsetB.x )
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{ // |t dot s| > hA dot |s| + hB dot |s * RB| -->> |t dot s| > hA dot |s| + hB dot |{1, 0, 0}| -->> |t dot s| > hA dot |s| + hB.x
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return false;
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}
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// s = RB.v[1].xyz
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if( Abs(worldOffset.Dot(rotationB.v[1])) > boundingOffsetA.Dot(absRotationB.v[1]) + boundingOffsetB.y )
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{ // |t dot s| > hA dot |s| + hB.y
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return false;
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}
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// s = RB.v[2].xyz
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if( Abs(worldOffset.Dot(rotationB.v[2])) > boundingOffsetA.Dot(absRotationB.v[2]) + boundingOffsetB.z )
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{ // |t dot s| > hA dot |s| + hB.z
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return false;
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}
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// s = ( 1,0,0 ) x rotationB.v[0].xyz:
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Float d = boundingOffsetA.y * absRotationB.v[0].z;
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d += boundingOffsetA.z * absRotationB.v[0].y;
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d += boundingOffsetB.y * absRotationB.v[2].x;
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d += boundingOffsetB.z * absRotationB.v[1].x;
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if( Abs(worldOffset.z*rotationB.v[0].y - worldOffset.y*rotationB.v[0].z) > d ) return false;
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// s = ( 1,0,0 ) x rotationB.v[1].xyz:
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d = boundingOffsetA.y * absRotationB.v[1].z;
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d += boundingOffsetA.z * absRotationB.v[1].y;
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d += boundingOffsetB.x * absRotationB.v[2].x;
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d += boundingOffsetB.z * absRotationB.v[0].x;
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if( Abs(worldOffset.z*rotationB.v[1].y - worldOffset.y*rotationB.v[1].z) > d ) return false;
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// s = ( 1,0,0 ) x rotationB.v[2].xyz:
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d = boundingOffsetA.y * absRotationB.v[2].z;
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d += boundingOffsetA.z * absRotationB.v[2].y;
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d += boundingOffsetB.x * absRotationB.v[1].x;
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d += boundingOffsetB.y * absRotationB.v[0].x;
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if( Abs(worldOffset.z*rotationB.v[2].y - worldOffset.y*rotationB.v[2].z) > d ) return false;
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// s = ( 0,1,0 ) x rotationB.v[0].xyz:
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d = boundingOffsetA.x * absRotationB.v[0].z;
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d += boundingOffsetA.z * absRotationB.v[0].x;
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d += boundingOffsetB.y * absRotationB.v[2].y;
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d += boundingOffsetB.z * absRotationB.v[1].y;
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if( Abs(worldOffset.x*rotationB.v[0].z - worldOffset.z*rotationB.v[0].x) > d ) return false;
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// s = ( 0,1,0 ) x rotationB.v[1].xyz:
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d = boundingOffsetA.x * absRotationB.v[1].z;
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d += boundingOffsetA.z * absRotationB.v[1].x;
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d += boundingOffsetB.x * absRotationB.v[2].y;
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d += boundingOffsetB.z * absRotationB.v[0].y;
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if( Abs(worldOffset.x*rotationB.v[1].z - worldOffset.z*rotationB.v[1].x) > d ) return false;
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// s = ( 0,1,0 ) x rotationB.v[2].xyz:
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d = boundingOffsetA.x * absRotationB.v[2].z;
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d += boundingOffsetA.z * absRotationB.v[2].x;
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d += boundingOffsetB.x * absRotationB.v[1].y;
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d += boundingOffsetB.y * absRotationB.v[0].y;
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if( Abs(worldOffset.x*rotationB.v[2].z - worldOffset.z*rotationB.v[2].x) > d ) return false;
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// s = ( 0,0,1 ) x rotationB.v[0].xyz:
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d = boundingOffsetA.x * absRotationB.v[0].y;
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d += boundingOffsetA.y * absRotationB.v[0].x;
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d += boundingOffsetB.y * absRotationB.v[2].z;
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d += boundingOffsetB.z * absRotationB.v[1].z;
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if( Abs(worldOffset.y*rotationB.v[0].x - worldOffset.x*rotationB.v[0].y) > d ) return false;
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// s = ( 0,0,1 ) x rotationB.v[1].xyz:
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d = boundingOffsetA.x * absRotationB.v[1].y;
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d += boundingOffsetA.y * absRotationB.v[1].x;
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d += boundingOffsetB.x * absRotationB.v[2].z;
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d += boundingOffsetB.z * absRotationB.v[0].z;
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if( Abs(worldOffset.y*rotationB.v[1].x - worldOffset.x*rotationB.v[1].y) > d ) return false;
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// s = ( 0,0,1 ) x rotationB.v[2].xyz:
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d = boundingOffsetA.x * absRotationB.v[2].y;
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d += boundingOffsetA.y * absRotationB.v[2].x;
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d += boundingOffsetB.x * absRotationB.v[1].z;
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d += boundingOffsetB.y * absRotationB.v[0].z;
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if( Abs(worldOffset.y*rotationB.v[2].x - worldOffset.x*rotationB.v[2].y) > d ) return false;
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return true;
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}
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bool SeperatingAxisTest_AxisAlignedVsTransformedBox( const Float4 &boundingOffsetA, const Float4 &boundingOffsetB, const Float4x4 &rotationB, const Float4 &worldOffset, Float4 &localPointOfContact )
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{ // by Dan Andersson
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/*****************************************************************
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* Uses the Seperating Axis Theorem
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* if( |t dot s| > hA dot |s * RA| + hB dot |s * RB| ) then not intersecting
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* |t dot s| > hA dot |s| + hB dot |s * RB| .. as RA = I
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*
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* t: objectB's offset from objectA [worldOffset]
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* s: current comparison axis
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* hA: boundingReach vector of objectA. Only absolute values is assumed. [boundingOffsetA]
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* hB: boundingReach vector of objectB. Only absolute values is assumed. [boundingOffsetB]
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* RA: rotation matrix of objectA. Is identity matrix here, thus omitted.
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* RB: rotation matrix of objectB. Is transformed into objectA's view at this point. [rotationB]
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*
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* Note: s * RB = (RB^T * s)^T = (RB^-1 * s)^T .... vector == vector^T
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*****************************************************************/
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/*****************************************************************
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* Distance Alghorithm based on .. something Dan came up with
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* pi = si * ( (t dot si) * (hA dot |si|) / (hA dot |si| + hB dot |si * RB|) )
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* p = estimated point of contact
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* = ( p1 + p2 + ... + p5 + p6 ) / 2
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*****************************************************************/
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const Float4 &t = worldOffset,
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&hA = boundingOffsetA,
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&hB = boundingOffsetB;
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Float4 s = Float4::standard_unit_x;
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Float centerSeperation = t.Dot(s),
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eA = hA.Dot( Abs(s) ),
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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localPointOfContact = s * ( centerSeperation * eA / edgeSeperation );
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s = Float4::standard_unit_y;
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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localPointOfContact += s * ( centerSeperation * eA / edgeSeperation );
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s = Float4::standard_unit_z;
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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localPointOfContact += s * ( centerSeperation * eA / edgeSeperation );
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s = rotationB.v[0];
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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localPointOfContact += s * ( centerSeperation * eA / edgeSeperation );
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s = rotationB.v[1];
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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localPointOfContact += s * ( centerSeperation * eA / edgeSeperation );
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s = rotationB.v[2];
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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localPointOfContact += s * ( centerSeperation * eA / edgeSeperation ); // enough point of contact data gathered for approximative result.
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s = Float4( Float3::standard_unit_x.Cross(rotationB.v[0].xyz), 0.0f );
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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s = Float4( Float3::standard_unit_x.Cross(rotationB.v[1].xyz), 0.0f );
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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s = Float4( Float3::standard_unit_x.Cross(rotationB.v[2].xyz), 0.0f );
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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s = Float4( Float3::standard_unit_y.Cross(rotationB.v[0].xyz), 0.0f );
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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s = Float4( Float3::standard_unit_y.Cross(rotationB.v[1].xyz), 0.0f );
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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s = Float4( Float3::standard_unit_y.Cross(rotationB.v[2].xyz), 0.0f );
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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s = Float4( Float3::standard_unit_z.Cross(rotationB.v[0].xyz), 0.0f );
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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s = Float4( Float3::standard_unit_z.Cross(rotationB.v[1].xyz), 0.0f );
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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s = Float4( Float3::standard_unit_z.Cross(rotationB.v[2].xyz), 0.0f );
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centerSeperation = t.Dot(s);
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eA = hA.Dot( Abs(s) );
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edgeSeperation = eA + hB.Dot( Abs(s * rotationB) );
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if( Abs(centerSeperation) > edgeSeperation )
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{ // no intersection
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return false;
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}
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localPointOfContact *= 0.5f;
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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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Float4 dP = point.center - 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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Float4 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 );
|
|
|
|
dP = rayA.direction * connectDistanceA;
|
|
dP += rayA.origin;
|
|
dP -= rayB.direction * connectDistanceB;
|
|
dP -= rayB.origin;
|
|
|
|
connectOffsetSquared = dP.Dot( dP );
|
|
}
|
|
|
|
void Compare( Float &connectOffset, const Plane &plane, const Point &point )
|
|
{ // by Dan Andersson
|
|
Private::Compare( connectOffset, plane, point.center );
|
|
}
|
|
|
|
bool Intersect( const Point &pointA, const Point &pointB )
|
|
{ // by Fredrick Johansson
|
|
if (pointA.center.x != pointB.center.x) return false;
|
|
if (pointA.center.y != pointB.center.y) return false;
|
|
if (pointA.center.z != pointB.center.z) return false;
|
|
return true; // Passed all tests, is in same position
|
|
}
|
|
|
|
bool Intersect( const Point &pointA, const Point &pointB, ::Oyster::Math::Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement Stub
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Ray &ray, const Point &point, Float &connectDistance )
|
|
{ // by Dan Andersson
|
|
Float connectOffsetSquared;
|
|
Compare( connectDistance, connectOffsetSquared, ray, point );
|
|
|
|
if( Private::EqualsZero(connectOffsetSquared) )
|
|
{
|
|
connectOffsetSquared = 0.0f;
|
|
return true;
|
|
}
|
|
|
|
connectDistance = 0.0f;
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Ray &ray, const Point &point, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement Stub
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Ray &rayA, const Ray &rayB, Float &connectDistanceA, Float &connectDistanceB )
|
|
{ // by Dan Andersson
|
|
Float connectOffsetSquared;
|
|
Compare( connectDistanceA, connectDistanceB, connectOffsetSquared, rayA, rayB );
|
|
|
|
if( Private::EqualsZero(connectOffsetSquared) )
|
|
{
|
|
connectOffsetSquared = 0.0f;
|
|
return true;
|
|
}
|
|
|
|
connectDistanceA = connectDistanceB = 0.0f;
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Ray &rayA, const Ray &rayB, ::Oyster::Math::Float &connectDistanceA, ::Oyster::Math::Float &connectDistanceB, ::Oyster::Math::Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement Stub
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Sphere &sphere, const Point &point )
|
|
{ // by Dan Andersson
|
|
Float3 dP = point.center - sphere.center;
|
|
if( dP.Dot(dP) > (sphere.radius * sphere.radius) )
|
|
return false;
|
|
return true;
|
|
}
|
|
|
|
bool Intersect( const Sphere &sphere, const Point &point, ::Oyster::Math::Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement Stub
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Sphere &sphere, const Ray &ray, Float &connectDistance )
|
|
{// by Dan Andersson
|
|
Float4 dP = sphere.center - ray.origin;
|
|
Float s = dP.Dot( ray.direction ),
|
|
dSquared = dP.Dot( dP ),
|
|
rSquared = sphere.radius * sphere.radius;
|
|
|
|
if( dSquared <= rSquared ) { connectDistance = 0.0f; return true; }
|
|
else if( s < 0.0f ) { connectDistance = 0.0f; return false; }
|
|
|
|
Float mSquared = dSquared - (s*s);
|
|
if( mSquared > rSquared ) { connectDistance = 0.0f; return false; }
|
|
|
|
Float q = ::std::sqrt( rSquared - mSquared );
|
|
if( dSquared > rSquared ) connectDistance = s - q;
|
|
else connectDistance = s + q;
|
|
|
|
return true;
|
|
}
|
|
|
|
bool Intersect( const Sphere &sphere, const Ray &ray, ::Oyster::Math::Float &connectDistance, ::Oyster::Math::Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement Stub
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Sphere &sphereA, const Sphere &sphereB )
|
|
{ // by Fredrick Johansson
|
|
Float4 C = sphereA.center;
|
|
C -= sphereB.center;
|
|
Float r = (sphereA.radius + sphereB.radius);
|
|
Float dotprod = C.Dot(C);
|
|
if (r*r >= C.Dot(C))
|
|
{
|
|
return true; // Intersect detected!
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Sphere &sphereA, const Sphere &sphereB, ::Oyster::Math::Float4 &worldPointOfContact )
|
|
{ // by Robin Engman
|
|
Float4 C = sphereA.center;
|
|
C -= sphereB.center;
|
|
Float r = sphereA.radius + sphereB.radius;
|
|
|
|
if ( r*r >= C.Dot(C) )
|
|
{
|
|
Float distance;
|
|
Ray ray(sphereB.center, C.Normalize());
|
|
|
|
Intersect( sphereA, ray, distance );
|
|
|
|
worldPointOfContact = ray.origin + ray.direction*distance;
|
|
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Plane &plane, const Point &point )
|
|
{ // by Dan Andersson
|
|
Float connectOffset;
|
|
Private::Compare( connectOffset, plane, point.center );
|
|
return Private::EqualsZero(connectOffset);
|
|
}
|
|
|
|
bool Intersect( const Plane &plane, const Point &point, Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement Stub
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Plane &plane, const Ray &ray, Float &connectDistance )
|
|
{ // by Dan Andersson
|
|
Float c = plane.normal.Dot(ray.direction);
|
|
if( Private::EqualsZero(c) )
|
|
{ // ray is parallell with the plane. (ray direction orthogonal with the planar normal)
|
|
connectDistance = 0.0f;
|
|
return Contains( plane, ray.origin );
|
|
}
|
|
|
|
connectDistance = -plane.phasing;
|
|
connectDistance -= plane.normal.Dot( ray.origin );
|
|
connectDistance /= c;
|
|
|
|
if( connectDistance > 0.0f )
|
|
return true;
|
|
|
|
connectDistance = 0.0f;
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Plane &plane, const Ray &ray, Float &connectDistance, Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement Stub
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Plane &plane, const Sphere &sphere )
|
|
{ // by Dan Andersson
|
|
Float connectOffset;
|
|
Private::Compare( connectOffset, plane, sphere.center );
|
|
return (connectOffset <= sphere.radius);
|
|
}
|
|
|
|
bool Intersect( const Plane &plane, const Sphere &sphere, Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement Stub
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Plane &planeA, const Plane &planeB )
|
|
{ // by Dan Andersson
|
|
if( planeA.normal == planeB.normal ) // they are parallell
|
|
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 Plane &planeA, const Plane &planeB, Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement Stub
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const BoxAxisAligned &box, const Point &point )
|
|
{ // by Dan Andersson
|
|
if( point.center.x < box.minVertex.x ) return false;
|
|
if( point.center.x > box.maxVertex.x ) return false;
|
|
if( point.center.y < box.minVertex.y ) return false;
|
|
if( point.center.y > box.maxVertex.y ) return false;
|
|
if( point.center.z < box.minVertex.z ) return false;
|
|
if( point.center.z > box.maxVertex.z ) return false;
|
|
return true;
|
|
}
|
|
|
|
bool Intersect( const BoxAxisAligned &box, const Point &point, Float4 &worldPointOfContact )
|
|
{ // by Dan Andersson
|
|
if( Intersect(box, point) )
|
|
{
|
|
worldPointOfContact = point.center;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
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
|
|
|
|
Float4 boundingOffset = ((box.maxVertex - box.minVertex) * 0.5f),
|
|
dP = ((box.maxVertex + box.minVertex) * 0.5f) - ray.origin;
|
|
if( Private::BoxVsRayPerSlabCheck( Float4::standard_unit_x, boundingOffset.x, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; }
|
|
if( Private::BoxVsRayPerSlabCheck( Float4::standard_unit_y, boundingOffset.y, dP, ray.direction, tMin, tMax ) ) { connectDistance = 0.0f; return false; }
|
|
if( Private::BoxVsRayPerSlabCheck( Float4::standard_unit_z, 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 Ray &ray, Float &connectDistance, Float4 &worldPointOfContact )
|
|
{ // by Dan Andersson
|
|
if( Intersect(box, ray, connectDistance) )
|
|
{
|
|
worldPointOfContact = ray.origin + ray.direction * connectDistance;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const BoxAxisAligned &box, const Sphere &sphere )
|
|
{ // by Dan Andersson
|
|
Float4 e = Max( box.minVertex - sphere.center, Float4::null );
|
|
e += Max( sphere.center - box.maxVertex, Float4::null );
|
|
|
|
if( e.Dot(e) > (sphere.radius * sphere.radius) ) return false;
|
|
return true;
|
|
}
|
|
|
|
bool Intersect( const BoxAxisAligned &box, const Sphere &sphere, Float4 &worldPointOfContact )
|
|
{ // by Robin Engman
|
|
if( Intersect(box, sphere) )
|
|
{
|
|
Float distance;
|
|
Float4 boxMiddle = (box.maxVertex - box.minVertex) * 0.5f;
|
|
Ray ray( boxMiddle, (sphere.center - boxMiddle).Normalize() );
|
|
Intersect( sphere, ray, distance );
|
|
worldPointOfContact = ray.origin + ray.direction * distance;
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
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 Plane &plane, Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement stub
|
|
return Intersect( box, plane );
|
|
}
|
|
|
|
// 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
|
|
Float4 dPos = point.center - box.center;
|
|
|
|
Float coordinate = dPos.Dot( box.xAxis );
|
|
if( coordinate > box.boundingOffset.x ) return false;
|
|
if( coordinate < -box.boundingOffset.x ) return false;
|
|
|
|
coordinate = dPos.Dot( box.yAxis );
|
|
if( coordinate > box.boundingOffset.y ) return false;
|
|
if( coordinate < -box.boundingOffset.y ) return false;
|
|
|
|
coordinate = dPos.Dot( box.zAxis );
|
|
if( coordinate > box.boundingOffset.z ) return false;
|
|
if( coordinate < -box.boundingOffset.z ) return false;
|
|
|
|
return true;
|
|
}
|
|
|
|
bool Intersect( const Box &box, const Point &point, Float4 &worldPointOfContact )
|
|
{ // by Dan Andersson
|
|
if( Intersect(box, point) )
|
|
{
|
|
worldPointOfContact = point.center;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
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
|
|
|
|
Float4 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 Ray &ray, Float &connectDistance, Float4 &worldPointOfContact )
|
|
{ // by Dan Andersson
|
|
if( Intersect(box, ray, connectDistance) )
|
|
{
|
|
worldPointOfContact = ray.origin + ray.direction * connectDistance;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool Intersect( const Box &box, const Sphere &sphere )
|
|
{ // by Dan Andersson
|
|
// center: sphere's center in the box's view space
|
|
Float4 center = TransformVector( InverseRotationMatrix(box.rotation), sphere.center - box.center );
|
|
|
|
Float4 e = Max( -box.boundingOffset - center, Float4::null );
|
|
e += Max( center - box.boundingOffset, Float4::null );
|
|
|
|
if( e.Dot(e) > (sphere.radius * sphere.radius) ) return false;
|
|
return true;
|
|
}
|
|
|
|
bool Intersect( const Box &box, const Sphere &sphere, Float4 &worldPointOfContact )
|
|
{ // by Robin Engman
|
|
if( Intersect(box, sphere) )
|
|
{
|
|
Float distance;
|
|
Ray ray( box.center, (sphere.center - box.center).Normalize() );
|
|
|
|
Intersect( sphere, ray, distance );
|
|
worldPointOfContact = ray.origin + ray.direction*distance;
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
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 &box, const Plane &plane, Float4 &worldPointOfContact )
|
|
{
|
|
//! @todo TODO: implement stub
|
|
return Intersect( box, plane );
|
|
}
|
|
|
|
bool Intersect( const Box &boxA, const BoxAxisAligned &boxB )
|
|
{ // by Dan Andersson
|
|
Float4 alignedOffsetBoundaries = (boxB.maxVertex - boxB.minVertex) * 0.5f,
|
|
offset = boxA.center- Average( boxB.maxVertex, boxB.minVertex );
|
|
return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries, boxA.boundingOffset, boxA.rotation, offset );
|
|
}
|
|
|
|
bool Intersect( const Box &boxA, const BoxAxisAligned &boxB, ::Oyster::Math::Float4 &worldPointOfContact )
|
|
{ // by Dan Andersson
|
|
Float4 alignedOffsetBoundaries = (boxB.maxVertex - boxB.minVertex) * 0.5f,
|
|
offset = boxA.center - Average( boxB.maxVertex, boxB.minVertex );
|
|
|
|
Float4 localPointOfContact;
|
|
if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( alignedOffsetBoundaries, boxA.boundingOffset, boxA.rotation, offset, localPointOfContact ) )
|
|
{
|
|
worldPointOfContact = localPointOfContact + boxA.center;
|
|
worldPointOfContact.w = 1.0f;
|
|
return true;
|
|
}
|
|
else return false;
|
|
}
|
|
|
|
bool Intersect( const Box &boxA, const Box &boxB )
|
|
{ // by Dan Andersson
|
|
Float4x4 rotationB = TransformMatrix( InverseRotationMatrix(boxA.rotation), boxB.rotation );
|
|
Float4 posB = boxB.center - boxA.center;
|
|
|
|
return Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, rotationB, posB );
|
|
}
|
|
|
|
bool Intersect( const Box &boxA, const Box &boxB, Float4 &worldPointOfContact )
|
|
{
|
|
Float4x4 rotationB = TransformMatrix( InverseRotationMatrix(boxA.rotation), boxB.rotation );
|
|
Float4 posB = boxB.center - boxA.center;
|
|
|
|
Float4 localPointOfContact;
|
|
if( Private::SeperatingAxisTest_AxisAlignedVsTransformedBox( boxA.boundingOffset, boxB.boundingOffset, rotationB, posB, localPointOfContact ) )
|
|
{
|
|
worldPointOfContact = TransformVector( boxA.rotation, localPointOfContact, localPointOfContact );
|
|
worldPointOfContact += boxA.center;
|
|
worldPointOfContact.w = 1.0f;
|
|
return true;
|
|
}
|
|
else return false;
|
|
}
|
|
|
|
bool Intersect( const Frustrum &frustrum, const Point &point )
|
|
{ // by Dan Andersson
|
|
Float connectOffset;
|
|
|
|
Private::Compare( connectOffset, frustrum.leftPlane, point.center );
|
|
if( connectOffset < 0.0f ) return false;
|
|
|
|
Private::Compare( connectOffset, frustrum.rightPlane, point.center );
|
|
if( connectOffset < 0.0f ) return false;
|
|
|
|
Private::Compare( connectOffset, frustrum.bottomPlane, point.center );
|
|
if( connectOffset < 0.0f) return false;
|
|
|
|
Private::Compare( connectOffset, frustrum.topPlane, point.center );
|
|
if( connectOffset < 0.0f) return false;
|
|
|
|
Private::Compare( connectOffset, frustrum.nearPlane, point.center );
|
|
if( connectOffset < 0.0f ) return false;
|
|
|
|
Private::Compare( connectOffset, frustrum.farPlane, point.center );
|
|
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 = Min( connectDistance, distance );
|
|
}
|
|
|
|
if( Intersect(frustrum.rightPlane, ray, distance) )
|
|
{
|
|
intersected = true;
|
|
connectDistance = Min( connectDistance, distance );
|
|
}
|
|
|
|
if( Intersect(frustrum.bottomPlane, ray, distance) )
|
|
{
|
|
intersected = true;
|
|
connectDistance = Min( connectDistance, distance );
|
|
}
|
|
|
|
if( Intersect(frustrum.topPlane, ray, distance) )
|
|
{
|
|
intersected = true;
|
|
connectDistance = Min( connectDistance, distance );
|
|
}
|
|
|
|
if( Intersect(frustrum.nearPlane, ray, distance) )
|
|
{
|
|
intersected = true;
|
|
connectDistance = Min( connectDistance, distance );
|
|
}
|
|
|
|
if( Intersect(frustrum.farPlane, ray, distance) )
|
|
{
|
|
intersected = true;
|
|
connectDistance = 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.center );
|
|
}
|
|
|
|
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;
|
|
}
|
|
|
|
Float TimeOfContact( const Sphere &protoStart, const Sphere &protoEnd, const Point &deuter )
|
|
{ // Bisection with 5 levels of detail
|
|
Float t = 0.5f,
|
|
d = 0.25f;
|
|
Sphere s;
|
|
for( int i = 0; i < 5; ++i )
|
|
{
|
|
Nlerp( protoStart, protoEnd, t, s );
|
|
if( Intersect(s, deuter) )
|
|
{
|
|
t -= d;
|
|
}
|
|
else
|
|
{
|
|
t += d;
|
|
}
|
|
d *= 0.5f;
|
|
}
|
|
return t;
|
|
}
|
|
|
|
Float TimeOfContact( const Box &protoStart, const Box &protoEnd, const Point &deuter )
|
|
{ // Bisection with 5 levels of detail
|
|
Float t = 0.5f,
|
|
d = 0.25f;
|
|
Box b;
|
|
for( int i = 0; i < 5; ++i )
|
|
{
|
|
Nlerp( protoStart, protoEnd, t, b );
|
|
if( Intersect(b, deuter) )
|
|
{
|
|
t -= d;
|
|
}
|
|
else
|
|
{
|
|
t += d;
|
|
}
|
|
d *= 0.5f;
|
|
}
|
|
return t;
|
|
}
|
|
|
|
} } } |