398 lines
11 KiB
C++
398 lines
11 KiB
C++
/*************************************************************************/
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/* rect3.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef AABB_H
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#define AABB_H
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#include "vector3.h"
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#include "plane.h"
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#include "math_defs.h"
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/**
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* AABB / AABB (Axis Aligned Bounding Box)
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* This is implemented by a point (pos) and the box size
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*/
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class Rect3 {
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public:
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Vector3 pos;
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Vector3 size;
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real_t get_area() const; /// get area
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_FORCE_INLINE_ bool has_no_area() const {
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return (size.x<=CMP_EPSILON || size.y<=CMP_EPSILON || size.z<=CMP_EPSILON);
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}
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_FORCE_INLINE_ bool has_no_surface() const {
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return (size.x<=CMP_EPSILON && size.y<=CMP_EPSILON && size.z<=CMP_EPSILON);
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}
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const Vector3& get_pos() const { return pos; }
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void set_pos(const Vector3& p_pos) { pos=p_pos; }
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const Vector3& get_size() const { return size; }
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void set_size(const Vector3& p_size) { size=p_size; }
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bool operator==(const Rect3& p_rval) const;
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bool operator!=(const Rect3& p_rval) const;
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_FORCE_INLINE_ bool intersects(const Rect3& p_aabb) const; /// Both AABBs overlap
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_FORCE_INLINE_ bool intersects_inclusive(const Rect3& p_aabb) const; /// Both AABBs (or their faces) overlap
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_FORCE_INLINE_ bool encloses(const Rect3 & p_aabb) const; /// p_aabb is completely inside this
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Rect3 merge(const Rect3& p_with) const;
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void merge_with(const Rect3& p_aabb); ///merge with another AABB
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Rect3 intersection(const Rect3& p_aabb) const; ///get box where two intersect, empty if no intersection occurs
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bool intersects_segment(const Vector3& p_from, const Vector3& p_to,Vector3* r_clip=NULL,Vector3* r_normal=NULL) const;
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bool intersects_ray(const Vector3& p_from, const Vector3& p_dir,Vector3* r_clip=NULL,Vector3* r_normal=NULL) const;
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_FORCE_INLINE_ bool smits_intersect_ray(const Vector3 &from,const Vector3& p_dir, real_t t0, real_t t1) const;
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_FORCE_INLINE_ bool intersects_convex_shape(const Plane *p_plane, int p_plane_count) const;
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bool intersects_plane(const Plane &p_plane) const;
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_FORCE_INLINE_ bool has_point(const Vector3& p_point) const;
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_FORCE_INLINE_ Vector3 get_support(const Vector3& p_normal) const;
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Vector3 get_longest_axis() const;
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int get_longest_axis_index() const;
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_FORCE_INLINE_ real_t get_longest_axis_size() const;
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Vector3 get_shortest_axis() const;
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int get_shortest_axis_index() const;
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_FORCE_INLINE_ real_t get_shortest_axis_size() const;
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Rect3 grow(real_t p_by) const;
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_FORCE_INLINE_ void grow_by(real_t p_amount);
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void get_edge(int p_edge,Vector3& r_from,Vector3& r_to) const;
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_FORCE_INLINE_ Vector3 get_endpoint(int p_point) const;
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Rect3 expand(const Vector3& p_vector) const;
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_FORCE_INLINE_ void project_range_in_plane(const Plane& p_plane,real_t &r_min,real_t& r_max) const;
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_FORCE_INLINE_ void expand_to(const Vector3& p_vector); /** expand to contain a point if necesary */
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operator String() const;
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_FORCE_INLINE_ Rect3() {}
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inline Rect3(const Vector3 &p_pos,const Vector3& p_size) { pos=p_pos; size=p_size; }
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};
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inline bool Rect3::intersects(const Rect3& p_aabb) const {
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if ( pos.x >= (p_aabb.pos.x + p_aabb.size.x) )
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return false;
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if ( (pos.x+size.x) <= p_aabb.pos.x )
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return false;
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if ( pos.y >= (p_aabb.pos.y + p_aabb.size.y) )
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return false;
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if ( (pos.y+size.y) <= p_aabb.pos.y )
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return false;
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if ( pos.z >= (p_aabb.pos.z + p_aabb.size.z) )
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return false;
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if ( (pos.z+size.z) <= p_aabb.pos.z )
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return false;
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return true;
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}
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inline bool Rect3::intersects_inclusive(const Rect3& p_aabb) const {
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if ( pos.x > (p_aabb.pos.x + p_aabb.size.x) )
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return false;
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if ( (pos.x+size.x) < p_aabb.pos.x )
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return false;
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if ( pos.y > (p_aabb.pos.y + p_aabb.size.y) )
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return false;
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if ( (pos.y+size.y) < p_aabb.pos.y )
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return false;
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if ( pos.z > (p_aabb.pos.z + p_aabb.size.z) )
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return false;
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if ( (pos.z+size.z) < p_aabb.pos.z )
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return false;
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return true;
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}
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inline bool Rect3::encloses(const Rect3 & p_aabb) const {
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Vector3 src_min=pos;
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Vector3 src_max=pos+size;
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Vector3 dst_min=p_aabb.pos;
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Vector3 dst_max=p_aabb.pos+p_aabb.size;
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return (
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(src_min.x <= dst_min.x) &&
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(src_max.x > dst_max.x) &&
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(src_min.y <= dst_min.y) &&
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(src_max.y > dst_max.y) &&
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(src_min.z <= dst_min.z) &&
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(src_max.z > dst_max.z) );
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}
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Vector3 Rect3::get_support(const Vector3& p_normal) const {
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Vector3 half_extents = size * 0.5;
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Vector3 ofs = pos + half_extents;
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return Vector3(
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(p_normal.x>0) ? -half_extents.x : half_extents.x,
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(p_normal.y>0) ? -half_extents.y : half_extents.y,
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(p_normal.z>0) ? -half_extents.z : half_extents.z
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)+ofs;
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}
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Vector3 Rect3::get_endpoint(int p_point) const {
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switch(p_point) {
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case 0: return Vector3( pos.x , pos.y , pos.z );
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case 1: return Vector3( pos.x , pos.y , pos.z+size.z );
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case 2: return Vector3( pos.x , pos.y+size.y , pos.z );
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case 3: return Vector3( pos.x , pos.y+size.y , pos.z+size.z );
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case 4: return Vector3( pos.x+size.x , pos.y , pos.z );
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case 5: return Vector3( pos.x+size.x , pos.y , pos.z+size.z );
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case 6: return Vector3( pos.x+size.x , pos.y+size.y , pos.z );
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case 7: return Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z );
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};
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ERR_FAIL_V(Vector3());
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}
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bool Rect3::intersects_convex_shape(const Plane *p_planes, int p_plane_count) const {
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#if 1
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Vector3 half_extents = size * 0.5;
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Vector3 ofs = pos + half_extents;
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for(int i=0;i<p_plane_count;i++) {
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const Plane &p=p_planes[i];
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Vector3 point(
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(p.normal.x>0) ? -half_extents.x : half_extents.x,
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(p.normal.y>0) ? -half_extents.y : half_extents.y,
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(p.normal.z>0) ? -half_extents.z : half_extents.z
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);
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point+=ofs;
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if (p.is_point_over(point))
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return false;
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}
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return true;
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#else
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//cache all points to check against!
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// #warning should be easy to optimize, just use the same as when taking the support and use only that point
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Vector3 points[8] = {
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Vector3( pos.x , pos.y , pos.z ),
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Vector3( pos.x , pos.y , pos.z+size.z ),
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Vector3( pos.x , pos.y+size.y , pos.z ),
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Vector3( pos.x , pos.y+size.y , pos.z+size.z ),
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Vector3( pos.x+size.x , pos.y , pos.z ),
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Vector3( pos.x+size.x , pos.y , pos.z+size.z ),
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Vector3( pos.x+size.x , pos.y+size.y , pos.z ),
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Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z ),
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};
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for (int i=0;i<p_plane_count;i++) { //for each plane
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const Plane & plane=p_planes[i];
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bool all_points_over=true;
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//test if it has all points over!
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for (int j=0;j<8;j++) {
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if (!plane.is_point_over( points[j] )) {
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all_points_over=false;
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break;
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}
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}
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if (all_points_over) {
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return false;
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}
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}
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return true;
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#endif
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}
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bool Rect3::has_point(const Vector3& p_point) const {
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if (p_point.x<pos.x)
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return false;
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if (p_point.y<pos.y)
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return false;
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if (p_point.z<pos.z)
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return false;
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if (p_point.x>pos.x+size.x)
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return false;
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if (p_point.y>pos.y+size.y)
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return false;
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if (p_point.z>pos.z+size.z)
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return false;
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return true;
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}
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inline void Rect3::expand_to(const Vector3& p_vector) {
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Vector3 begin=pos;
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Vector3 end=pos+size;
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if (p_vector.x<begin.x)
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begin.x=p_vector.x;
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if (p_vector.y<begin.y)
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begin.y=p_vector.y;
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if (p_vector.z<begin.z)
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begin.z=p_vector.z;
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if (p_vector.x>end.x)
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end.x=p_vector.x;
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if (p_vector.y>end.y)
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end.y=p_vector.y;
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if (p_vector.z>end.z)
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end.z=p_vector.z;
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pos=begin;
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size=end-begin;
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}
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void Rect3::project_range_in_plane(const Plane& p_plane,real_t &r_min,real_t& r_max) const {
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Vector3 half_extents( size.x * 0.5, size.y * 0.5, size.z * 0.5 );
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Vector3 center( pos.x + half_extents.x, pos.y + half_extents.y, pos.z + half_extents.z );
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real_t length = p_plane.normal.abs().dot(half_extents);
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real_t distance = p_plane.distance_to( center );
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r_min = distance - length;
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r_max = distance + length;
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}
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inline real_t Rect3::get_longest_axis_size() const {
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real_t max_size=size.x;
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if (size.y > max_size ) {
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max_size=size.y;
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}
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if (size.z > max_size ) {
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max_size=size.z;
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}
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return max_size;
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}
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inline real_t Rect3::get_shortest_axis_size() const {
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real_t max_size=size.x;
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if (size.y < max_size ) {
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max_size=size.y;
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}
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if (size.z < max_size ) {
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max_size=size.z;
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}
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return max_size;
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}
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bool Rect3::smits_intersect_ray(const Vector3 &from,const Vector3& dir, real_t t0, real_t t1) const {
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real_t divx=1.0/dir.x;
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real_t divy=1.0/dir.y;
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real_t divz=1.0/dir.z;
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Vector3 upbound=pos+size;
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real_t tmin, tmax, tymin, tymax, tzmin, tzmax;
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if (dir.x >= 0) {
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tmin = (pos.x - from.x) * divx;
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tmax = (upbound.x - from.x) * divx;
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}
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else {
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tmin = (upbound.x - from.x) * divx;
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tmax = (pos.x - from.x) * divx;
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}
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if (dir.y >= 0) {
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tymin = (pos.y - from.y) * divy;
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tymax = (upbound.y - from.y) * divy;
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}
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else {
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tymin = (upbound.y - from.y) * divy;
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tymax = (pos.y - from.y) * divy;
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}
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if ( (tmin > tymax) || (tymin > tmax) )
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return false;
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if (tymin > tmin)
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tmin = tymin;
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if (tymax < tmax)
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tmax = tymax;
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if (dir.z >= 0) {
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tzmin = (pos.z - from.z) * divz;
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tzmax = (upbound.z - from.z) * divz;
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}
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else {
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tzmin = (upbound.z - from.z) * divz;
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tzmax = (pos.z - from.z) * divz;
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}
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if ( (tmin > tzmax) || (tzmin > tmax) )
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return false;
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if (tzmin > tmin)
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tmin = tzmin;
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if (tzmax < tmax)
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tmax = tzmax;
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return ( (tmin < t1) && (tmax > t0) );
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}
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void Rect3::grow_by(real_t p_amount) {
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pos.x-=p_amount;
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pos.y-=p_amount;
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pos.z-=p_amount;
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size.x+=2.0*p_amount;
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size.y+=2.0*p_amount;
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size.z+=2.0*p_amount;
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}
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#endif // AABB_H
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