82 lines
4.4 KiB
C
82 lines
4.4 KiB
C
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/*
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* OPCODE - Optimized Collision Detection
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* http://www.codercorner.com/Opcode.htm
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*
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* Copyright (c) 2001-2008 Pierre Terdiman, pierre@codercorner.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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// Opcode 1.1: ray-AABB overlap tests based on Woo's code
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// Opcode 1.2: ray-AABB overlap tests based on the separating axis theorem
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//
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// The point of intersection is not computed anymore. The distance to impact is not needed anymore
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// since we now have two different queries for segments or rays.
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Computes a segment-AABB overlap test using the separating axis theorem. Segment is cached within the class.
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* \param center [in] AABB center
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* \param extents [in] AABB extents
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* \return true on overlap
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ BOOL RayCollider::SegmentAABBOverlap(const Point& center, const Point& extents)
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{
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// Stats
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mNbRayBVTests++;
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float Dx = mData2.x - center.x; if(fabsf(Dx) > extents.x + mFDir.x) return FALSE;
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float Dy = mData2.y - center.y; if(fabsf(Dy) > extents.y + mFDir.y) return FALSE;
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float Dz = mData2.z - center.z; if(fabsf(Dz) > extents.z + mFDir.z) return FALSE;
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float f;
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f = mData.y * Dz - mData.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE;
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f = mData.z * Dx - mData.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE;
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f = mData.x * Dy - mData.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE;
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return TRUE;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class.
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* \param center [in] AABB center
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* \param extents [in] AABB extents
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* \return true on overlap
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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inline_ BOOL RayCollider::RayAABBOverlap(const Point& center, const Point& extents)
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{
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// Stats
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mNbRayBVTests++;
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// float Dx = mOrigin.x - center.x; if(fabsf(Dx) > extents.x && Dx*mDir.x>=0.0f) return FALSE;
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// float Dy = mOrigin.y - center.y; if(fabsf(Dy) > extents.y && Dy*mDir.y>=0.0f) return FALSE;
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// float Dz = mOrigin.z - center.z; if(fabsf(Dz) > extents.z && Dz*mDir.z>=0.0f) return FALSE;
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float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && Dx*mDir.x>=0.0f) return FALSE;
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float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && Dy*mDir.y>=0.0f) return FALSE;
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float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && Dz*mDir.z>=0.0f) return FALSE;
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// float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && ((SIR(Dx)-1)^SIR(mDir.x))>=0.0f) return FALSE;
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// float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && ((SIR(Dy)-1)^SIR(mDir.y))>=0.0f) return FALSE;
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// float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && ((SIR(Dz)-1)^SIR(mDir.z))>=0.0f) return FALSE;
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float f;
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f = mDir.y * Dz - mDir.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE;
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f = mDir.z * Dx - mDir.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE;
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f = mDir.x * Dy - mDir.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE;
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return TRUE;
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}
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