419 lines
9.3 KiB
C++
419 lines
9.3 KiB
C++
/*************************************************************************/
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/* aabb.cpp */
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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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#include "aabb.h"
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#include "print_string.h"
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float AABB::get_area() const {
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return size.x*size.y*size.z;
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}
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bool AABB::operator==(const AABB& p_rval) const {
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return ((pos==p_rval.pos) && (size==p_rval.size));
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}
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bool AABB::operator!=(const AABB& p_rval) const {
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return ((pos!=p_rval.pos) || (size!=p_rval.size));
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}
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void AABB::merge_with(const AABB& p_aabb) {
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Vector3 beg_1,beg_2;
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Vector3 end_1,end_2;
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Vector3 min,max;
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beg_1=pos;
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beg_2=p_aabb.pos;
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end_1=Vector3(size.x,size.y,size.z)+beg_1;
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end_2=Vector3(p_aabb.size.x,p_aabb.size.y,p_aabb.size.z)+beg_2;
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min.x=(beg_1.x<beg_2.x)?beg_1.x:beg_2.x;
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min.y=(beg_1.y<beg_2.y)?beg_1.y:beg_2.y;
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min.z=(beg_1.z<beg_2.z)?beg_1.z:beg_2.z;
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max.x=(end_1.x>end_2.x)?end_1.x:end_2.x;
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max.y=(end_1.y>end_2.y)?end_1.y:end_2.y;
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max.z=(end_1.z>end_2.z)?end_1.z:end_2.z;
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pos=min;
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size=max-min;
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}
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AABB AABB::intersection(const AABB& 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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Vector3 min,max;
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if (src_min.x > dst_max.x || src_max.x < dst_min.x )
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return AABB();
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else {
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min.x= ( src_min.x > dst_min.x ) ? src_min.x :dst_min.x;
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max.x= ( src_max.x < dst_max.x ) ? src_max.x :dst_max.x;
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}
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if (src_min.y > dst_max.y || src_max.y < dst_min.y )
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return AABB();
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else {
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min.y= ( src_min.y > dst_min.y ) ? src_min.y :dst_min.y;
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max.y= ( src_max.y < dst_max.y ) ? src_max.y :dst_max.y;
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}
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if (src_min.z > dst_max.z || src_max.z < dst_min.z )
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return AABB();
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else {
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min.z= ( src_min.z > dst_min.z ) ? src_min.z :dst_min.z;
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max.z= ( src_max.z < dst_max.z ) ? src_max.z :dst_max.z;
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}
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return AABB( min, max-min );
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}
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bool AABB::intersects_ray(const Vector3& p_from, const Vector3& p_dir,Vector3* r_clip,Vector3* r_normal) const {
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Vector3 c1, c2;
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Vector3 end = pos+size;
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float near=-1e20;
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float far=1e20;
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int axis=0;
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for (int i=0;i<3;i++){
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if (p_dir[i] == 0){
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if ((p_from[i] < pos[i]) || (p_from[i] > end[i])) {
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return false;
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}
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} else { // ray not parallel to planes in this direction
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c1[i] = (pos[i] - p_from[i]) / p_dir[i];
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c2[i] = (end[i] - p_from[i]) / p_dir[i];
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if(c1[i] > c2[i]){
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SWAP(c1,c2);
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}
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if (c1[i] > near){
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near = c1[i];
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axis=i;
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}
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if (c2[i] < far){
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far = c2[i];
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}
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if( (near > far) || (far < 0) ){
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return false;
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}
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}
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}
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if (r_clip)
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*r_clip=c1;
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if (r_normal) {
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*r_normal=Vector3();
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(*r_normal)[axis]=p_dir[axis]?-1:1;
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}
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return true;
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}
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bool AABB::intersects_segment(const Vector3& p_from, const Vector3& p_to,Vector3* r_clip,Vector3* r_normal) const {
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real_t min=0,max=1;
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int axis=0;
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float sign=0;
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for(int i=0;i<3;i++) {
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real_t seg_from=p_from[i];
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real_t seg_to=p_to[i];
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real_t box_begin=pos[i];
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real_t box_end=box_begin+size[i];
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real_t cmin,cmax;
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float csign;
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if (seg_from < seg_to) {
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if (seg_from > box_end || seg_to < box_begin)
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return false;
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real_t length=seg_to-seg_from;
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cmin = (seg_from < box_begin)?((box_begin - seg_from)/length):0;
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cmax = (seg_to > box_end)?((box_end - seg_from)/length):1;
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csign=-1.0;
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} else {
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if (seg_to > box_end || seg_from < box_begin)
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return false;
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real_t length=seg_to-seg_from;
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cmin = (seg_from > box_end)?(box_end - seg_from)/length:0;
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cmax = (seg_to < box_begin)?(box_begin - seg_from)/length:1;
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csign=1.0;
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}
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if (cmin > min) {
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min = cmin;
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axis=i;
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sign=csign;
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}
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if (cmax < max)
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max = cmax;
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if (max < min)
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return false;
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}
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Vector3 rel=p_to-p_from;
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if (r_normal) {
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Vector3 normal;
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normal[axis]=sign;
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*r_normal=normal;
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}
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if (r_clip)
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*r_clip=p_from+rel*min;
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return true;
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}
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bool AABB::intersects_plane(const Plane &p_plane) const {
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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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bool over=false;
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bool under=false;
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for (int i=0;i<8;i++) {
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if (p_plane.distance_to(points[i])>0)
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over=true;
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else
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under=true;
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}
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return under && over;
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}
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Vector3 AABB::get_longest_axis() const {
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Vector3 axis(1,0,0);
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real_t max_size=size.x;
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if (size.y > max_size ) {
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axis=Vector3(0,1,0);
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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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axis=Vector3(0,0,1);
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max_size=size.z;
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}
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return axis;
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}
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int AABB::get_longest_axis_index() const {
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int axis=0;
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real_t max_size=size.x;
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if (size.y > max_size ) {
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axis=1;
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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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axis=2;
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max_size=size.z;
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}
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return axis;
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}
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Vector3 AABB::get_shortest_axis() const {
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Vector3 axis(1,0,0);
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real_t max_size=size.x;
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if (size.y < max_size ) {
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axis=Vector3(0,1,0);
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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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axis=Vector3(0,0,1);
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max_size=size.z;
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}
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return axis;
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}
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int AABB::get_shortest_axis_index() const {
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int axis=0;
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real_t max_size=size.x;
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if (size.y < max_size ) {
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axis=1;
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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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axis=2;
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max_size=size.z;
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}
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return axis;
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}
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AABB AABB::merge(const AABB& p_with) const {
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AABB aabb=*this;
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aabb.merge_with(p_with);
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return aabb;
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}
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AABB AABB::expand(const Vector3& p_vector) const {
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AABB aabb=*this;
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aabb.expand_to(p_vector);
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return aabb;
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}
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AABB AABB::grow(real_t p_by) const {
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AABB aabb=*this;
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aabb.grow_by(p_by);
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return aabb;
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}
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void AABB::get_edge(int p_edge,Vector3& r_from,Vector3& r_to) const {
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ERR_FAIL_INDEX(p_edge,12);
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switch(p_edge) {
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case 0:{
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r_from=Vector3( pos.x+size.x , pos.y , pos.z );
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r_to=Vector3( pos.x , pos.y , pos.z );
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} break;
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case 1:{
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r_from=Vector3( pos.x+size.x , pos.y , pos.z+size.z );
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r_to=Vector3( pos.x+size.x , pos.y , pos.z );
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} break;
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case 2:{
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r_from=Vector3( pos.x , pos.y , pos.z+size.z );
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r_to=Vector3( pos.x+size.x , pos.y , pos.z+size.z );
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} break;
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case 3:{
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r_from=Vector3( pos.x , pos.y , pos.z );
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r_to=Vector3( pos.x , pos.y , pos.z+size.z );
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} break;
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case 4:{
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r_from=Vector3( pos.x , pos.y+size.y , pos.z );
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r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z );
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} break;
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case 5:{
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r_from=Vector3( pos.x+size.x , pos.y+size.y , pos.z );
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r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z );
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} break;
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case 6:{
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r_from=Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z );
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r_to=Vector3( pos.x , pos.y+size.y , pos.z+size.z );
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} break;
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case 7:{
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r_from=Vector3( pos.x , pos.y+size.y , pos.z+size.z );
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r_to=Vector3( pos.x , pos.y+size.y , pos.z );
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} break;
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case 8:{
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r_from=Vector3( pos.x , pos.y , pos.z+size.z );
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r_to=Vector3( pos.x , pos.y+size.y , pos.z+size.z );
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} break;
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case 9:{
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r_from=Vector3( pos.x , pos.y , pos.z );
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r_to=Vector3( pos.x , pos.y+size.y , pos.z );
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} break;
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case 10:{
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r_from=Vector3( pos.x+size.x , pos.y , pos.z );
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r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z );
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} break;
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case 11:{
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r_from=Vector3( pos.x+size.x , pos.y , pos.z+size.z );
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r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z );
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} break;
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}
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}
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AABB::operator String() const {
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return String()+pos +" - "+ size;
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}
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