419 lines
9.3 KiB
C++
419 lines
9.3 KiB
C++
|
/*************************************************************************/
|
||
|
|
/* aabb.cpp */
|
||
|
|
/*************************************************************************/
|
||
|
|
/* This file is part of: */
|
||
|
|
/* GODOT ENGINE */
|
||
|
|
/* http://www.godotengine.org */
|
||
|
|
/*************************************************************************/
|
||
|
|
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
|
||
|
|
/* */
|
||
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
||
|
|
/* a copy of this software and associated documentation files (the */
|
||
|
|
/* "Software"), to deal in the Software without restriction, including */
|
||
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
||
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
||
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
||
|
|
/* the following conditions: */
|
||
|
|
/* */
|
||
|
|
/* The above copyright notice and this permission notice shall be */
|
||
|
|
/* included in all copies or substantial portions of the Software. */
|
||
|
|
/* */
|
||
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
||
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
||
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
||
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
||
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
||
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
||
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
||
|
|
/*************************************************************************/
|
||
|
|
#include "aabb.h"
|
||
|
|
|
||
|
|
#include "print_string.h"
|
||
|
|
|
||
|
|
float AABB::get_area() const {
|
||
|
|
|
||
|
|
return size.x*size.y*size.z;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
bool AABB::operator==(const AABB& p_rval) const {
|
||
|
|
|
||
|
|
return ((pos==p_rval.pos) && (size==p_rval.size));
|
||
|
|
|
||
|
|
}
|
||
|
|
bool AABB::operator!=(const AABB& p_rval) const {
|
||
|
|
|
||
|
|
return ((pos!=p_rval.pos) || (size!=p_rval.size));
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
void AABB::merge_with(const AABB& p_aabb) {
|
||
|
|
|
||
|
|
Vector3 beg_1,beg_2;
|
||
|
|
Vector3 end_1,end_2;
|
||
|
|
Vector3 min,max;
|
||
|
|
|
||
|
|
beg_1=pos;
|
||
|
|
beg_2=p_aabb.pos;
|
||
|
|
end_1=Vector3(size.x,size.y,size.z)+beg_1;
|
||
|
|
end_2=Vector3(p_aabb.size.x,p_aabb.size.y,p_aabb.size.z)+beg_2;
|
||
|
|
|
||
|
|
min.x=(beg_1.x<beg_2.x)?beg_1.x:beg_2.x;
|
||
|
|
min.y=(beg_1.y<beg_2.y)?beg_1.y:beg_2.y;
|
||
|
|
min.z=(beg_1.z<beg_2.z)?beg_1.z:beg_2.z;
|
||
|
|
|
||
|
|
max.x=(end_1.x>end_2.x)?end_1.x:end_2.x;
|
||
|
|
max.y=(end_1.y>end_2.y)?end_1.y:end_2.y;
|
||
|
|
max.z=(end_1.z>end_2.z)?end_1.z:end_2.z;
|
||
|
|
|
||
|
|
pos=min;
|
||
|
|
size=max-min;
|
||
|
|
}
|
||
|
|
|
||
|
|
AABB AABB::intersection(const AABB& p_aabb) const {
|
||
|
|
|
||
|
|
Vector3 src_min=pos;
|
||
|
|
Vector3 src_max=pos+size;
|
||
|
|
Vector3 dst_min=p_aabb.pos;
|
||
|
|
Vector3 dst_max=p_aabb.pos+p_aabb.size;
|
||
|
|
|
||
|
|
Vector3 min,max;
|
||
|
|
|
||
|
|
if (src_min.x > dst_max.x || src_max.x < dst_min.x )
|
||
|
|
return AABB();
|
||
|
|
else {
|
||
|
|
|
||
|
|
min.x= ( src_min.x > dst_min.x ) ? src_min.x :dst_min.x;
|
||
|
|
max.x= ( src_max.x < dst_max.x ) ? src_max.x :dst_max.x;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
if (src_min.y > dst_max.y || src_max.y < dst_min.y )
|
||
|
|
return AABB();
|
||
|
|
else {
|
||
|
|
|
||
|
|
min.y= ( src_min.y > dst_min.y ) ? src_min.y :dst_min.y;
|
||
|
|
max.y= ( src_max.y < dst_max.y ) ? src_max.y :dst_max.y;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
if (src_min.z > dst_max.z || src_max.z < dst_min.z )
|
||
|
|
return AABB();
|
||
|
|
else {
|
||
|
|
|
||
|
|
min.z= ( src_min.z > dst_min.z ) ? src_min.z :dst_min.z;
|
||
|
|
max.z= ( src_max.z < dst_max.z ) ? src_max.z :dst_max.z;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
return AABB( min, max-min );
|
||
|
|
}
|
||
|
|
|
||
|
|
bool AABB::intersects_ray(const Vector3& p_from, const Vector3& p_dir,Vector3* r_clip,Vector3* r_normal) const {
|
||
|
|
|
||
|
|
Vector3 c1, c2;
|
||
|
|
Vector3 end = pos+size;
|
||
|
|
float near=-1e20;
|
||
|
|
float far=1e20;
|
||
|
|
int axis=0;
|
||
|
|
|
||
|
|
for (int i=0;i<3;i++){
|
||
|
|
if (p_dir[i] == 0){
|
||
|
|
if ((p_from[i] < pos[i]) || (p_from[i] > end[i])) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
} else { // ray not parallel to planes in this direction
|
||
|
|
c1[i] = (pos[i] - p_from[i]) / p_dir[i];
|
||
|
|
c2[i] = (end[i] - p_from[i]) / p_dir[i];
|
||
|
|
|
||
|
|
if(c1[i] > c2[i]){
|
||
|
|
SWAP(c1,c2);
|
||
|
|
}
|
||
|
|
if (c1[i] > near){
|
||
|
|
near = c1[i];
|
||
|
|
axis=i;
|
||
|
|
}
|
||
|
|
if (c2[i] < far){
|
||
|
|
far = c2[i];
|
||
|
|
}
|
||
|
|
if( (near > far) || (far < 0) ){
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (r_clip)
|
||
|
|
*r_clip=c1;
|
||
|
|
if (r_normal) {
|
||
|
|
*r_normal=Vector3();
|
||
|
|
(*r_normal)[axis]=p_dir[axis]?-1:1;
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
bool AABB::intersects_segment(const Vector3& p_from, const Vector3& p_to,Vector3* r_clip,Vector3* r_normal) const {
|
||
|
|
|
||
|
|
real_t min=0,max=1;
|
||
|
|
int axis=0;
|
||
|
|
float sign=0;
|
||
|
|
|
||
|
|
for(int i=0;i<3;i++) {
|
||
|
|
real_t seg_from=p_from[i];
|
||
|
|
real_t seg_to=p_to[i];
|
||
|
|
real_t box_begin=pos[i];
|
||
|
|
real_t box_end=box_begin+size[i];
|
||
|
|
real_t cmin,cmax;
|
||
|
|
float csign;
|
||
|
|
|
||
|
|
if (seg_from < seg_to) {
|
||
|
|
|
||
|
|
if (seg_from > box_end || seg_to < box_begin)
|
||
|
|
return false;
|
||
|
|
real_t length=seg_to-seg_from;
|
||
|
|
cmin = (seg_from < box_begin)?((box_begin - seg_from)/length):0;
|
||
|
|
cmax = (seg_to > box_end)?((box_end - seg_from)/length):1;
|
||
|
|
csign=-1.0;
|
||
|
|
|
||
|
|
} else {
|
||
|
|
|
||
|
|
if (seg_to > box_end || seg_from < box_begin)
|
||
|
|
return false;
|
||
|
|
real_t length=seg_to-seg_from;
|
||
|
|
cmin = (seg_from > box_end)?(box_end - seg_from)/length:0;
|
||
|
|
cmax = (seg_to < box_begin)?(box_begin - seg_from)/length:1;
|
||
|
|
csign=1.0;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (cmin > min) {
|
||
|
|
min = cmin;
|
||
|
|
axis=i;
|
||
|
|
sign=csign;
|
||
|
|
}
|
||
|
|
if (cmax < max)
|
||
|
|
max = cmax;
|
||
|
|
if (max < min)
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
Vector3 rel=p_to-p_from;
|
||
|
|
|
||
|
|
if (r_normal) {
|
||
|
|
Vector3 normal;
|
||
|
|
normal[axis]=sign;
|
||
|
|
*r_normal=normal;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (r_clip)
|
||
|
|
*r_clip=p_from+rel*min;
|
||
|
|
|
||
|
|
return true;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
bool AABB::intersects_plane(const Plane &p_plane) const {
|
||
|
|
|
||
|
|
Vector3 points[8] = {
|
||
|
|
Vector3( pos.x , pos.y , pos.z ),
|
||
|
|
Vector3( pos.x , pos.y , pos.z+size.z ),
|
||
|
|
Vector3( pos.x , pos.y+size.y , pos.z ),
|
||
|
|
Vector3( pos.x , pos.y+size.y , pos.z+size.z ),
|
||
|
|
Vector3( pos.x+size.x , pos.y , pos.z ),
|
||
|
|
Vector3( pos.x+size.x , pos.y , pos.z+size.z ),
|
||
|
|
Vector3( pos.x+size.x , pos.y+size.y , pos.z ),
|
||
|
|
Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z ),
|
||
|
|
};
|
||
|
|
|
||
|
|
bool over=false;
|
||
|
|
bool under=false;
|
||
|
|
|
||
|
|
for (int i=0;i<8;i++) {
|
||
|
|
|
||
|
|
if (p_plane.distance_to(points[i])>0)
|
||
|
|
over=true;
|
||
|
|
else
|
||
|
|
under=true;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
return under && over;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
Vector3 AABB::get_longest_axis() const {
|
||
|
|
|
||
|
|
Vector3 axis(1,0,0);
|
||
|
|
real_t max_size=size.x;
|
||
|
|
|
||
|
|
if (size.y > max_size ) {
|
||
|
|
axis=Vector3(0,1,0);
|
||
|
|
max_size=size.y;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (size.z > max_size ) {
|
||
|
|
axis=Vector3(0,0,1);
|
||
|
|
max_size=size.z;
|
||
|
|
}
|
||
|
|
|
||
|
|
return axis;
|
||
|
|
}
|
||
|
|
int AABB::get_longest_axis_index() const {
|
||
|
|
|
||
|
|
int axis=0;
|
||
|
|
real_t max_size=size.x;
|
||
|
|
|
||
|
|
if (size.y > max_size ) {
|
||
|
|
axis=1;
|
||
|
|
max_size=size.y;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (size.z > max_size ) {
|
||
|
|
axis=2;
|
||
|
|
max_size=size.z;
|
||
|
|
}
|
||
|
|
|
||
|
|
return axis;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
Vector3 AABB::get_shortest_axis() const {
|
||
|
|
|
||
|
|
Vector3 axis(1,0,0);
|
||
|
|
real_t max_size=size.x;
|
||
|
|
|
||
|
|
if (size.y < max_size ) {
|
||
|
|
axis=Vector3(0,1,0);
|
||
|
|
max_size=size.y;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (size.z < max_size ) {
|
||
|
|
axis=Vector3(0,0,1);
|
||
|
|
max_size=size.z;
|
||
|
|
}
|
||
|
|
|
||
|
|
return axis;
|
||
|
|
}
|
||
|
|
int AABB::get_shortest_axis_index() const {
|
||
|
|
|
||
|
|
int axis=0;
|
||
|
|
real_t max_size=size.x;
|
||
|
|
|
||
|
|
if (size.y < max_size ) {
|
||
|
|
axis=1;
|
||
|
|
max_size=size.y;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (size.z < max_size ) {
|
||
|
|
axis=2;
|
||
|
|
max_size=size.z;
|
||
|
|
}
|
||
|
|
|
||
|
|
return axis;
|
||
|
|
}
|
||
|
|
|
||
|
|
AABB AABB::merge(const AABB& p_with) const {
|
||
|
|
|
||
|
|
AABB aabb=*this;
|
||
|
|
aabb.merge_with(p_with);
|
||
|
|
return aabb;
|
||
|
|
}
|
||
|
|
AABB AABB::expand(const Vector3& p_vector) const {
|
||
|
|
AABB aabb=*this;
|
||
|
|
aabb.expand_to(p_vector);
|
||
|
|
return aabb;
|
||
|
|
|
||
|
|
}
|
||
|
|
AABB AABB::grow(real_t p_by) const {
|
||
|
|
|
||
|
|
AABB aabb=*this;
|
||
|
|
aabb.grow_by(p_by);
|
||
|
|
return aabb;
|
||
|
|
}
|
||
|
|
|
||
|
|
void AABB::get_edge(int p_edge,Vector3& r_from,Vector3& r_to) const {
|
||
|
|
|
||
|
|
ERR_FAIL_INDEX(p_edge,12);
|
||
|
|
switch(p_edge) {
|
||
|
|
|
||
|
|
case 0:{
|
||
|
|
|
||
|
|
r_from=Vector3( pos.x+size.x , pos.y , pos.z );
|
||
|
|
r_to=Vector3( pos.x , pos.y , pos.z );
|
||
|
|
} break;
|
||
|
|
case 1:{
|
||
|
|
|
||
|
|
r_from=Vector3( pos.x+size.x , pos.y , pos.z+size.z );
|
||
|
|
r_to=Vector3( pos.x+size.x , pos.y , pos.z );
|
||
|
|
} break;
|
||
|
|
case 2:{
|
||
|
|
r_from=Vector3( pos.x , pos.y , pos.z+size.z );
|
||
|
|
r_to=Vector3( pos.x+size.x , pos.y , pos.z+size.z );
|
||
|
|
|
||
|
|
} break;
|
||
|
|
case 3:{
|
||
|
|
|
||
|
|
r_from=Vector3( pos.x , pos.y , pos.z );
|
||
|
|
r_to=Vector3( pos.x , pos.y , pos.z+size.z );
|
||
|
|
|
||
|
|
} break;
|
||
|
|
case 4:{
|
||
|
|
|
||
|
|
r_from=Vector3( pos.x , pos.y+size.y , pos.z );
|
||
|
|
r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z );
|
||
|
|
} break;
|
||
|
|
case 5:{
|
||
|
|
|
||
|
|
r_from=Vector3( pos.x+size.x , pos.y+size.y , pos.z );
|
||
|
|
r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z );
|
||
|
|
} break;
|
||
|
|
case 6:{
|
||
|
|
r_from=Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z );
|
||
|
|
r_to=Vector3( pos.x , pos.y+size.y , pos.z+size.z );
|
||
|
|
|
||
|
|
} break;
|
||
|
|
case 7:{
|
||
|
|
|
||
|
|
r_from=Vector3( pos.x , pos.y+size.y , pos.z+size.z );
|
||
|
|
r_to=Vector3( pos.x , pos.y+size.y , pos.z );
|
||
|
|
|
||
|
|
} break;
|
||
|
|
case 8:{
|
||
|
|
|
||
|
|
r_from=Vector3( pos.x , pos.y , pos.z+size.z );
|
||
|
|
r_to=Vector3( pos.x , pos.y+size.y , pos.z+size.z );
|
||
|
|
|
||
|
|
} break;
|
||
|
|
case 9:{
|
||
|
|
|
||
|
|
r_from=Vector3( pos.x , pos.y , pos.z );
|
||
|
|
r_to=Vector3( pos.x , pos.y+size.y , pos.z );
|
||
|
|
|
||
|
|
} break;
|
||
|
|
case 10:{
|
||
|
|
|
||
|
|
r_from=Vector3( pos.x+size.x , pos.y , pos.z );
|
||
|
|
r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z );
|
||
|
|
|
||
|
|
} break;
|
||
|
|
case 11:{
|
||
|
|
|
||
|
|
r_from=Vector3( pos.x+size.x , pos.y , pos.z+size.z );
|
||
|
|
r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z );
|
||
|
|
|
||
|
|
} break;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
AABB::operator String() const {
|
||
|
|
|
||
|
|
return String()+pos +" - "+ size;
|
||
|
|
}
|