251 lines
9.5 KiB
C++
251 lines
9.5 KiB
C++
/*************************************************************************/
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/* face3.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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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 FACE3_H
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#define FACE3_H
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#include "core/math/aabb.h"
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#include "core/math/plane.h"
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#include "core/math/transform.h"
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#include "core/math/vector3.h"
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class Face3 {
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public:
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enum Side {
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SIDE_OVER,
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SIDE_UNDER,
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SIDE_SPANNING,
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SIDE_COPLANAR
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};
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Vector3 vertex[3];
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/**
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*
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* @param p_plane plane used to split the face
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* @param p_res array of at least 3 faces, amount used in functio return
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* @param p_is_point_over array of at least 3 booleans, determining which face is over the plane, amount used in functio return
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* @param _epsilon constant used for numerical error rounding, to add "thickness" to the plane (so coplanar points can happen)
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* @return amount of faces generated by the split, either 0 (means no split possible), 2 or 3
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*/
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int split_by_plane(const Plane &p_plane, Face3 *p_res, bool *p_is_point_over) const;
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Plane get_plane(ClockDirection p_dir = CLOCKWISE) const;
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Vector3 get_random_point_inside() const;
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Side get_side_of(const Face3 &p_face, ClockDirection p_clock_dir = CLOCKWISE) const;
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bool is_degenerate() const;
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real_t get_area() const;
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Vector3 get_median_point() const;
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Vector3 get_closest_point_to(const Vector3 &p_point) const;
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bool intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *p_intersection = nullptr) const;
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bool intersects_segment(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *p_intersection = nullptr) const;
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ClockDirection get_clock_dir() const; ///< todo, test if this is returning the proper clockwisity
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void get_support(const Vector3 &p_normal, const Transform &p_transform, Vector3 *p_vertices, int *p_count, int p_max) const;
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void project_range(const Vector3 &p_normal, const Transform &p_transform, real_t &r_min, real_t &r_max) const;
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AABB get_aabb() const {
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AABB aabb(vertex[0], Vector3());
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aabb.expand_to(vertex[1]);
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aabb.expand_to(vertex[2]);
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return aabb;
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}
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bool intersects_aabb(const AABB &p_aabb) const;
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_FORCE_INLINE_ bool intersects_aabb2(const AABB &p_aabb) const;
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operator String() const;
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inline Face3() {}
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inline Face3(const Vector3 &p_v1, const Vector3 &p_v2, const Vector3 &p_v3) {
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vertex[0] = p_v1;
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vertex[1] = p_v2;
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vertex[2] = p_v3;
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}
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};
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bool Face3::intersects_aabb2(const AABB &p_aabb) const {
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Vector3 perp = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]);
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Vector3 half_extents = p_aabb.size * 0.5;
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Vector3 ofs = p_aabb.position + half_extents;
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Vector3 sup = Vector3(
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(perp.x > 0) ? -half_extents.x : half_extents.x,
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(perp.y > 0) ? -half_extents.y : half_extents.y,
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(perp.z > 0) ? -half_extents.z : half_extents.z);
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real_t d = perp.dot(vertex[0]);
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real_t dist_a = perp.dot(ofs + sup) - d;
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real_t dist_b = perp.dot(ofs - sup) - d;
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if (dist_a * dist_b > 0) {
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return false; //does not intersect the plane
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}
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#define TEST_AXIS(m_ax) \
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{ \
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real_t aabb_min = p_aabb.position.m_ax; \
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real_t aabb_max = p_aabb.position.m_ax + p_aabb.size.m_ax; \
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real_t tri_min, tri_max; \
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for (int i = 0; i < 3; i++) { \
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if (i == 0 || vertex[i].m_ax > tri_max) \
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tri_max = vertex[i].m_ax; \
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if (i == 0 || vertex[i].m_ax < tri_min) \
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tri_min = vertex[i].m_ax; \
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} \
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\
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if (tri_max < aabb_min || aabb_max < tri_min) \
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return false; \
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}
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TEST_AXIS(x);
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TEST_AXIS(y);
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TEST_AXIS(z);
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#undef TEST_AXIS
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Vector3 edge_norms[3] = {
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vertex[0] - vertex[1],
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vertex[1] - vertex[2],
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vertex[2] - vertex[0],
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};
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for (int i = 0; i < 12; i++) {
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Vector3 from, to;
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switch (i) {
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case 0: {
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from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z);
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to = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z);
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} break;
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case 1: {
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from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z);
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to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z);
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} break;
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case 2: {
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from = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z);
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to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z);
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} break;
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case 3: {
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from = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z);
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to = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z);
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} break;
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case 4: {
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from = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z);
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to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z);
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} break;
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case 5: {
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from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z);
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to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z);
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} break;
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case 6: {
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from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z);
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to = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z);
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} break;
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case 7: {
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from = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z);
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to = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z);
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} break;
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case 8: {
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from = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z);
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to = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z);
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} break;
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case 9: {
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from = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z);
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to = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z);
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} break;
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case 10: {
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from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z);
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to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z);
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} break;
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case 11: {
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from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z);
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to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z);
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} break;
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}
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Vector3 e1 = from - to;
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for (int j = 0; j < 3; j++) {
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Vector3 e2 = edge_norms[j];
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Vector3 axis = vec3_cross(e1, e2);
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if (axis.length_squared() < 0.0001) {
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continue; // coplanar
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}
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//axis.normalize();
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Vector3 sup2 = Vector3(
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(axis.x > 0) ? -half_extents.x : half_extents.x,
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(axis.y > 0) ? -half_extents.y : half_extents.y,
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(axis.z > 0) ? -half_extents.z : half_extents.z);
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real_t maxB = axis.dot(ofs + sup2);
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real_t minB = axis.dot(ofs - sup2);
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if (minB > maxB) {
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SWAP(maxB, minB);
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}
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real_t minT = 1e20, maxT = -1e20;
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for (int k = 0; k < 3; k++) {
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real_t vert_d = axis.dot(vertex[k]);
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if (vert_d > maxT) {
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maxT = vert_d;
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}
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if (vert_d < minT) {
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minT = vert_d;
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}
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}
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if (maxB < minT || maxT < minB) {
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return false;
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}
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}
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}
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return true;
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}
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#endif // FACE3_H
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