321 lines
7.4 KiB
C
321 lines
7.4 KiB
C
/******************************************************************************
|
|
Copyright (C) 2013 by Hugh Bailey <obs.jim@gmail.com>
|
|
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 2 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
******************************************************************************/
|
|
|
|
#include <string.h>
|
|
#include "bounds.h"
|
|
#include "matrix3.h"
|
|
#include "matrix4.h"
|
|
#include "plane.h"
|
|
|
|
void bounds_move(struct bounds *dst, const struct bounds *b,
|
|
const struct vec3 *v)
|
|
{
|
|
vec3_add(&dst->min, &b->min, v);
|
|
vec3_add(&dst->max, &b->max, v);
|
|
}
|
|
|
|
void bounds_scale(struct bounds *dst, const struct bounds *b,
|
|
const struct vec3 *v)
|
|
{
|
|
vec3_mul(&dst->min, &b->min, v);
|
|
vec3_mul(&dst->max, &b->max, v);
|
|
}
|
|
|
|
void bounds_merge(struct bounds *dst, const struct bounds *b1,
|
|
const struct bounds *b2)
|
|
{
|
|
vec3_min(&dst->min, &b1->min, &b2->min);
|
|
vec3_max(&dst->max, &b1->max, &b2->max);
|
|
}
|
|
|
|
void bounds_merge_point(struct bounds *dst, const struct bounds *b,
|
|
const struct vec3 *v)
|
|
{
|
|
vec3_min(&dst->min, &b->min, v);
|
|
vec3_max(&dst->max, &b->max, v);
|
|
}
|
|
|
|
void bounds_get_point(struct vec3 *dst, const struct bounds *b,
|
|
unsigned int i)
|
|
{
|
|
if (i > 8)
|
|
return;
|
|
|
|
/*
|
|
* Note:
|
|
* 0 = min.x,min.y,min.z
|
|
* 1 = min.x,min.y,MAX.z
|
|
* 2 = min.x,MAX.y,min.z
|
|
* 3 = min.x,MAX.y,MAX.z
|
|
* 4 = MAX.x,min.y,min.z
|
|
* 5 = MAX.x,min.y,MAX.z
|
|
|
|
* 6 = MAX.x,MAX.y,min.z
|
|
* 7 = MAX.x,MAX.y,MAX.z
|
|
*/
|
|
|
|
if(i > 3) {dst->x = b->max.x; i -= 4;}
|
|
else {dst->x = b->min.x;}
|
|
|
|
if(i > 1) {dst->y = b->max.y; i -= 2;}
|
|
else {dst->y = b->min.y;}
|
|
|
|
dst->z = (i == 1) ? b->max.z : b->min.z;
|
|
}
|
|
|
|
void bounds_get_center(struct vec3 *dst, const struct bounds *b)
|
|
{
|
|
vec3_sub(dst, &b->max, &b->min);
|
|
vec3_mulf(dst, dst, 0.5f);
|
|
vec3_add(dst, dst, &b->min);
|
|
}
|
|
|
|
void bounds_transform(struct bounds *dst, const struct bounds *b,
|
|
const struct matrix4 *m)
|
|
{
|
|
struct bounds temp;
|
|
bool b_init = false;
|
|
int i;
|
|
|
|
memset(&temp, 0, sizeof(temp));
|
|
|
|
for (i = 0; i < 8; i++) {
|
|
struct vec3 p;
|
|
bounds_get_point(&p, b, i);
|
|
vec3_transform(&p, &p, m);
|
|
|
|
if (!b_init) {
|
|
vec3_copy(&temp.min, &p);
|
|
vec3_copy(&temp.max, &p);
|
|
b_init = true;
|
|
} else {
|
|
if (p.x < temp.min.x)
|
|
temp.min.x = p.x;
|
|
else if (p.x > temp.max.x)
|
|
temp.max.x = p.x;
|
|
|
|
if (p.y < temp.min.y)
|
|
temp.min.y = p.y;
|
|
else if (p.y > temp.max.y)
|
|
temp.max.y = p.y;
|
|
|
|
if (p.z < temp.min.z)
|
|
temp.min.z = p.z;
|
|
else if (p.z > temp.max.z)
|
|
temp.max.z = p.z;
|
|
}
|
|
}
|
|
|
|
bounds_copy(dst, &temp);
|
|
}
|
|
|
|
void bounds_transform3x4(struct bounds *dst, const struct bounds *b,
|
|
const struct matrix3 *m)
|
|
{
|
|
struct bounds temp;
|
|
bool b_init = false;
|
|
int i;
|
|
|
|
memset(&temp, 0, sizeof(temp));
|
|
|
|
for (i = 0; i < 8; i++) {
|
|
struct vec3 p;
|
|
bounds_get_point(&p, b, i);
|
|
vec3_transform3x4(&p, &p, m);
|
|
|
|
if (!b_init) {
|
|
vec3_copy(&temp.min, &p);
|
|
vec3_copy(&temp.max, &p);
|
|
b_init = true;
|
|
} else {
|
|
if (p.x < temp.min.x)
|
|
temp.min.x = p.x;
|
|
else if (p.x > temp.max.x)
|
|
temp.max.x = p.x;
|
|
|
|
if (p.y < temp.min.y)
|
|
temp.min.y = p.y;
|
|
else if (p.y > temp.max.y)
|
|
temp.max.y = p.y;
|
|
|
|
if (p.z < temp.min.z)
|
|
temp.min.z = p.z;
|
|
else if (p.z > temp.max.z)
|
|
temp.max.z = p.z;
|
|
}
|
|
}
|
|
|
|
bounds_copy(dst, &temp);
|
|
}
|
|
|
|
bool bounds_intersection_ray(const struct bounds *b, const struct vec3 *orig,
|
|
const struct vec3 *dir, float *t)
|
|
{
|
|
float t_max = M_INFINITE;
|
|
float t_min = -M_INFINITE;
|
|
struct vec3 center, max_offset, box_offset;
|
|
int i;
|
|
|
|
bounds_get_center(¢er, b);
|
|
vec3_sub(&max_offset, &b->max, ¢er);
|
|
vec3_sub(&box_offset, ¢er, orig);
|
|
|
|
for (i = 0; i < 3; i++) {
|
|
float e = box_offset.ptr[i];
|
|
float f = dir->ptr[i];
|
|
|
|
if (fabsf(f) > 0.0f) {
|
|
float fi = 1.0f/f;
|
|
float t1 = (e+max_offset.ptr[i])*fi;
|
|
float t2 = (e-max_offset.ptr[i])*fi;
|
|
if (t1 > t2) {
|
|
if (t2 > t_min) t_min = t2;
|
|
if (t1 < t_max) t_max = t1;
|
|
} else {
|
|
if (t1 > t_min) t_min = t1;
|
|
if (t2 < t_max) t_max = t2;
|
|
}
|
|
if (t_min > t_max)
|
|
return false;
|
|
if (t_max < 0.0f)
|
|
return false;
|
|
} else if ((-e - max_offset.ptr[i]) > 0.0f ||
|
|
(-e + max_offset.ptr[i]) < 0.0f) {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
*t = (t_min > 0.0f) ? t_min : t_max;
|
|
return true;
|
|
}
|
|
|
|
bool bounds_intersection_line(const struct bounds *b, const struct vec3 *p1,
|
|
const struct vec3 *p2, float *t)
|
|
{
|
|
struct vec3 dir;
|
|
float length;
|
|
|
|
vec3_sub(&dir, p2, p1);
|
|
length = vec3_len(&dir);
|
|
if (length <= TINY_EPSILON)
|
|
return false;
|
|
|
|
vec3_mulf(&dir, &dir, 1.0f/length);
|
|
|
|
if (!bounds_intersection_ray(b, p1, &dir, t))
|
|
return false;
|
|
|
|
*t /= length;
|
|
return true;
|
|
}
|
|
|
|
bool bounds_plane_test(const struct bounds *b, const struct plane *p)
|
|
{
|
|
struct vec3 vmin, vmax;
|
|
int i;
|
|
|
|
for (i = 0; i < 3; i++) {
|
|
if (p->dir.ptr[i] >= 0.0f) {
|
|
vmin.ptr[i] = b->min.ptr[i];
|
|
vmax.ptr[i] = b->max.ptr[i];
|
|
} else {
|
|
vmin.ptr[i] = b->max.ptr[i];
|
|
vmax.ptr[i] = b->min.ptr[i];
|
|
}
|
|
}
|
|
|
|
if (vec3_plane_dist(&vmin, p) > 0.0f)
|
|
return BOUNDS_OUTSIDE;
|
|
|
|
if (vec3_plane_dist(&vmax, p) >= 0.0f)
|
|
return BOUNDS_PARTIAL;
|
|
|
|
return BOUNDS_INSIDE;
|
|
}
|
|
|
|
bool bounds_under_plane(const struct bounds *b, const struct plane *p)
|
|
{
|
|
struct vec3 vmin;
|
|
|
|
vmin.x = (p->dir.x < 0.0f) ? b->max.x : b->min.x;
|
|
vmin.y = (p->dir.y < 0.0f) ? b->max.y : b->min.y;
|
|
vmin.z = (p->dir.z < 0.0f) ? b->max.z : b->min.z;
|
|
|
|
return (vec3_dot(&vmin, &p->dir) <= p->dist);
|
|
}
|
|
|
|
bool bounds_intersects(const struct bounds *b, const struct bounds *test,
|
|
float epsilon)
|
|
{
|
|
return ((b->min.x - test->max.x) <= epsilon) &&
|
|
((test->min.x - b->max.x) <= epsilon) &&
|
|
((b->min.y - test->max.y) <= epsilon) &&
|
|
((test->min.y - b->max.y) <= epsilon) &&
|
|
((b->min.z - test->max.z) <= epsilon) &&
|
|
((test->min.z - b->max.z) <= epsilon);
|
|
}
|
|
|
|
bool bounds_intersects_obb(const struct bounds *b, const struct bounds *test,
|
|
const struct matrix4 *m, float epsilon)
|
|
{
|
|
struct bounds b_tr, test_tr;
|
|
struct matrix4 m_inv;
|
|
|
|
matrix4_inv(&m_inv, m);
|
|
|
|
bounds_transform(&b_tr, b, m);
|
|
bounds_transform(&test_tr, test, &m_inv);
|
|
|
|
return bounds_intersects(b, &test_tr, epsilon) &&
|
|
bounds_intersects(&b_tr, test, epsilon);
|
|
}
|
|
|
|
bool bounds_intersects_obb3x4(const struct bounds *b, const struct bounds *test,
|
|
const struct matrix3 *m, float epsilon)
|
|
{
|
|
struct bounds b_tr, test_tr;
|
|
struct matrix3 m_inv;
|
|
|
|
matrix3_transpose(&m_inv, m);
|
|
|
|
bounds_transform3x4(&b_tr, b, m);
|
|
bounds_transform3x4(&test_tr, test, &m_inv);
|
|
|
|
return bounds_intersects(b, &test_tr, epsilon) &&
|
|
bounds_intersects(&b_tr, test, epsilon);
|
|
}
|
|
|
|
static inline float vec3or_offset_len(const struct bounds *b,
|
|
const struct vec3 *v)
|
|
{
|
|
struct vec3 temp1, temp2;
|
|
vec3_sub(&temp1, &b->max, &b->min);
|
|
vec3_abs(&temp2, v);
|
|
return vec3_dot(&temp1, &temp2);
|
|
}
|
|
|
|
float bounds_min_dist(const struct bounds *b, const struct plane *p)
|
|
{
|
|
struct vec3 center;
|
|
float vec_len = vec3or_offset_len(b, &p->dir) * 0.5f;
|
|
float center_dist;
|
|
|
|
bounds_get_center(¢er, b);
|
|
center_dist = vec3_plane_dist(¢er, p);
|
|
|
|
return p->dist + center_dist - vec_len;
|
|
}
|