384 lines
11 KiB
C++
384 lines
11 KiB
C++
/*************************************************************************/
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/* aabb.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
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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 "plane.h"
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#include "vector3.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 AABB {
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public:
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Vector3 pos;
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Vector3 size;
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float 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 AABB &p_rval) const;
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bool operator!=(const AABB &p_rval) const;
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_FORCE_INLINE_ bool intersects(const AABB &p_aabb) const; /// Both AABBs overlap
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_FORCE_INLINE_ bool intersects_inclusive(const AABB &p_aabb) const; /// Both AABBs (or their faces) overlap
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_FORCE_INLINE_ bool encloses(const AABB &p_aabb) const; /// p_aabb is completely inside this
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AABB merge(const AABB &p_with) const;
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void merge_with(const AABB &p_aabb); ///merge with another AABB
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AABB intersection(const AABB &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, float t0, float 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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AABB 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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AABB expand(const Vector3 &p_vector) const;
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_FORCE_INLINE_ void project_range_in_plane(const Plane &p_plane, float &r_min, float &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_ AABB() {}
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inline AABB(const Vector3 &p_pos, const Vector3 &p_size) {
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pos = p_pos;
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size = p_size;
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}
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};
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inline bool AABB::intersects(const AABB &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 AABB::intersects_inclusive(const AABB &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 AABB::encloses(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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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 AABB::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 AABB::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 AABB::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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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 AABB::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 AABB::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 AABB::project_range_in_plane(const Plane &p_plane, float &r_min, float &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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float length = p_plane.normal.abs().dot(half_extents);
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float 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 AABB::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 AABB::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 AABB::smits_intersect_ray(const Vector3 &from, const Vector3 &dir, float t0, float t1) const {
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float divx = 1.0 / dir.x;
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float divy = 1.0 / dir.y;
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float divz = 1.0 / dir.z;
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Vector3 upbound = pos + size;
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float 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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} 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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} 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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} 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 AABB::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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typedef AABB Rect3;
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#endif // AABB_H
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