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Fix COBBox intersection test

This commit is contained in:
Jack Andersen 2018-11-08 14:25:26 -10:00
parent 18afb32077
commit 01019f9602
3 changed files with 143 additions and 131 deletions
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1
CMakeLists.txt
View File

@ -24,6 +24,7 @@ set(SOURCES
src/CVector4f.cpp
src/CMatrix4f.cpp
src/CAABox.cpp
src/COBBox.cpp
src/CEulerAngles.cpp)
add_library(zeus

133
include/zeus/COBBox.hpp
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@ -35,33 +35,7 @@ public:
COBBox(const CTransform& xf, const CVector3f& extents) : transform(xf), extents(extents) {}
CAABox calculateAABox(const CTransform& transform = CTransform()) const
{
CAABox ret = CAABox::skInvertedBox;
CTransform trans = transform * transform;
static const CVector3f basis[8] = {{1.0, 1.0, 1.0}, {1.0, 1.0, -1.0}, {1.0, -1.0, 1.0}, {1.0, -1.0, -1.0},
{-1.0, -1.0, -1.0}, {-1.0, -1.0, 1.0}, {-1.0, 1.0, -1.0}, {-1.0, 1.0, 1.0}};
CVector3f p = extents * basis[0];
ret.accumulateBounds(trans * p);
p = extents * basis[1];
ret.accumulateBounds(trans * p);
p = extents * basis[2];
ret.accumulateBounds(trans * p);
p = extents * basis[3];
ret.accumulateBounds(trans * p);
p = extents * basis[4];
ret.accumulateBounds(trans * p);
p = extents * basis[5];
ret.accumulateBounds(trans * p);
p = extents * basis[6];
ret.accumulateBounds(trans * p);
p = extents * basis[7];
ret.accumulateBounds(trans * p);
return ret;
}
CAABox calculateAABox(const CTransform& transform = CTransform()) const;
static COBBox FromAABox(const CAABox& box, const CTransform& xf)
{
@ -70,110 +44,7 @@ public:
return COBBox(newXf, extents);
}
bool OBBIntersectsBox(const COBBox& other) const
{
CVector3f v = other.transform.origin - transform.origin;
CVector3f T = CVector3f(v.dot(transform.basis[0]), v.dot(transform.basis[1]),
v.dot(transform.basis[2]));
CMatrix3f R;
float ra, rb, t;
for (int i = 0; i < 3; ++i)
for (int k = 0; k < 3; ++k)
R[i][k] = transform.basis[i].dot(other.transform.basis[k]);
for (int i = 0; i < 3; ++i)
{
ra = extents[i];
rb = (other.extents[0] * fabs(R[i][0])) +
(other.extents[1] * fabs(R[i][1])) +
(other.extents[2] * fabs(R[i][2]));
t = fabs(T[i]);
if (t > (ra + rb))
return false;
}
for (int k = 0; k < 3; ++k)
{
ra = (extents[0] * fabs(R[0][k])) +
(extents[1] * fabs(R[1][k])) +
(extents[2] * fabs(R[2][k]));
rb = other.extents[k];
t = fabs(T[0] * R[0][k]) + (T[1] * R[1][k]) + (T[2] * R[2][k]);
if (t > (ra + rb))
return false;
}
/* A0 x B0 */
ra = (extents[1] * fabs(R[2][0])) + (extents[2]*fabs(R[1][0]));
rb = (other.extents[1] * fabs(R[0][2])) + (other.extents[2] * fabs(R[0][1]));
t = fabs((T[2] * R[1][0]) - (T[1]*R[2][0]));
if (t > (ra + rb))
return false;
/* A0 x B1 */
ra = (extents[1] * fabs(R[2][1])) + (extents[2]*fabs(R[1][1]));
rb = (other.extents[0] * fabs(R[0][2])) + (other.extents[2] * fabs(R[0][0]));
t = fabs((T[2] * R[1][1]) - (T[1]*R[2][1]));
if (t > (ra + rb))
return false;
/* A0 x B2 */
ra = (extents[1] * fabs(R[2][2])) + (extents[2]*fabs(R[1][2]));
rb = (other.extents[0] * fabs(R[0][1])) + (other.extents[1] * fabs(R[0][0]));
t = fabs((T[2] * R[1][2]) - (T[1]*R[2][2]));
if (t > (ra + rb))
return false;
/* A1 x B0 */
ra = (extents[0] * fabs(R[2][0])) + (extents[2]*fabs(R[0][0]));
rb = (other.extents[1] * fabs(R[1][2])) + (other.extents[2] * fabs(R[1][1]));
t = fabs((T[0] * R[2][0]) - (T[2]*R[0][0]));
if (t > (ra + rb))
return false;
/* A1 x B1 */
ra = (extents[0] * fabs(R[2][1])) + (extents[2]*fabs(R[0][1]));
rb = (other.extents[0] * fabs(R[1][2])) + (other.extents[2] * fabs(R[1][0]));
t = fabs((T[0] * R[2][1]) - (T[2]*R[0][1]));
if (t > (ra + rb))
return false;
/* A1 x B2 */
ra = (extents[0] * fabs(R[2][2])) + (extents[2]*fabs(R[0][2]));
rb = (other.extents[0] * fabs(R[1][1])) + (other.extents[1] * fabs(R[1][0]));
t = fabs((T[0] * R[2][2]) - (T[2]*R[0][2]));
if (t > (ra + rb))
return false;
/* A2 x B0 */
ra = (extents[0] * fabs(R[1][0])) + (extents[1]*fabs(R[0][0]));
rb = (other.extents[1] * fabs(R[2][2])) + (other.extents[2] * fabs(R[2][1]));
t = fabs((T[1] * R[0][0]) - (T[0]*R[1][0]));
if (t > (ra + rb))
return false;
/* A2 x B1 */
ra = (extents[0] * fabs(R[1][1])) + (extents[1]*fabs(R[0][1]));
rb = (other.extents[0] * fabs(R[2][2])) + (other.extents[2] * fabs(R[2][0]));
t = fabs((T[1] * R[0][1]) - (T[0]*R[1][1]));
if (t > (ra + rb))
return false;
/* A2 x B2 */
ra = (extents[0] * fabs(R[1][2])) + (extents[1]*fabs(R[0][2]));
rb = (other.extents[0] * fabs(R[2][1])) + (other.extents[1] * fabs(R[2][0]));
t = fabs((T[1] * R[0][2]) - (T[0]*R[1][2]));
if (t > (ra + rb))
return false;
return true;
}
bool OBBIntersectsBox(const COBBox& other) const;
bool AABoxIntersectsBox(const CAABox& other)
{

140
src/COBBox.cpp Normal file
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@ -0,0 +1,140 @@
#include "zeus/COBBox.hpp"
namespace zeus
{
CAABox COBBox::calculateAABox(const CTransform& transform) const
{
CAABox ret = CAABox::skInvertedBox;
CTransform trans = transform * transform;
static const CVector3f basis[8] = {{1.f, 1.f, 1.f}, {1.f, 1.f, -1.f}, {1.f, -1.f, 1.f}, {1.f, -1.f, -1.f},
{-1.f, -1.f, -1.f}, {-1.f, -1.f, 1.f}, {-1.f, 1.f, -1.f}, {-1.f, 1.f, 1.f}};
CVector3f p = extents * basis[0];
ret.accumulateBounds(trans * p);
p = extents * basis[1];
ret.accumulateBounds(trans * p);
p = extents * basis[2];
ret.accumulateBounds(trans * p);
p = extents * basis[3];
ret.accumulateBounds(trans * p);
p = extents * basis[4];
ret.accumulateBounds(trans * p);
p = extents * basis[5];
ret.accumulateBounds(trans * p);
p = extents * basis[6];
ret.accumulateBounds(trans * p);
p = extents * basis[7];
ret.accumulateBounds(trans * p);
return ret;
}
bool COBBox::OBBIntersectsBox(const COBBox& other) const
{
CVector3f v = other.transform.origin - transform.origin;
CVector3f T = CVector3f(v.dot(transform.basis[0]),
v.dot(transform.basis[1]),
v.dot(transform.basis[2]));
CMatrix3f R;
float ra, rb, t;
for (int i = 0; i < 3; ++i)
for (int k = 0; k < 3; ++k)
R[i][k] = transform.basis[i].dot(other.transform.basis[k]);
for (int i = 0; i < 3; ++i)
{
ra = extents[i];
rb = (other.extents[0] * std::fabs(R[i][0])) +
(other.extents[1] * std::fabs(R[i][1])) +
(other.extents[2] * std::fabs(R[i][2]));
t = std::fabs(T[i]);
if (t > (ra + rb + FLT_EPSILON))
return false;
}
for (int k = 0; k < 3; ++k)
{
ra = (extents[0] * std::fabs(R[0][k])) +
(extents[1] * std::fabs(R[1][k])) +
(extents[2] * std::fabs(R[2][k]));
rb = other.extents[k];
t = std::fabs(T[0] * R[0][k] + T[1] * R[1][k] + T[2] * R[2][k]);
if (t > (ra + rb + FLT_EPSILON))
return false;
}
/* A0 x B0 */
ra = (extents[1] * std::fabs(R[2][0])) + (extents[2] * std::fabs(R[1][0]));
rb = (other.extents[1] * std::fabs(R[0][2])) + (other.extents[2] * std::fabs(R[0][1]));
t = std::fabs((T[2] * R[1][0]) - (T[1] * R[2][0]));
if (t > (ra + rb + FLT_EPSILON))
return false;
/* A0 x B1 */
ra = (extents[1] * std::fabs(R[2][1])) + (extents[2] * std::fabs(R[1][1]));
rb = (other.extents[0] * std::fabs(R[0][2])) + (other.extents[2] * std::fabs(R[0][0]));
t = std::fabs((T[2] * R[1][1]) - (T[1] * R[2][1]));
if (t > (ra + rb + FLT_EPSILON))
return false;
/* A0 x B2 */
ra = (extents[1] * std::fabs(R[2][2])) + (extents[2] * std::fabs(R[1][2]));
rb = (other.extents[0] * std::fabs(R[0][1])) + (other.extents[1] * std::fabs(R[0][0]));
t = std::fabs((T[2] * R[1][2]) - (T[1] * R[2][2]));
if (t > (ra + rb + FLT_EPSILON))
return false;
/* A1 x B0 */
ra = (extents[0] * std::fabs(R[2][0])) + (extents[2] * std::fabs(R[0][0]));
rb = (other.extents[1] * std::fabs(R[1][2])) + (other.extents[2] * std::fabs(R[1][1]));
t = std::fabs((T[0] * R[2][0]) - (T[2] * R[0][0]));
if (t > (ra + rb + FLT_EPSILON))
return false;
/* A1 x B1 */
ra = (extents[0] * std::fabs(R[2][1])) + (extents[2] * std::fabs(R[0][1]));
rb = (other.extents[0] * std::fabs(R[1][2])) + (other.extents[2] * std::fabs(R[1][0]));
t = std::fabs((T[0] * R[2][1]) - (T[2] * R[0][1]));
if (t > (ra + rb + FLT_EPSILON))
return false;
/* A1 x B2 */
ra = (extents[0] * std::fabs(R[2][2])) + (extents[2] * std::fabs(R[0][2]));
rb = (other.extents[0] * std::fabs(R[1][1])) + (other.extents[1] * std::fabs(R[1][0]));
t = std::fabs((T[0] * R[2][2]) - (T[2] * R[0][2]));
if (t > (ra + rb + FLT_EPSILON))
return false;
/* A2 x B0 */
ra = (extents[0] * std::fabs(R[1][0])) + (extents[1] * std::fabs(R[0][0]));
rb = (other.extents[1] * std::fabs(R[2][2])) + (other.extents[2] * std::fabs(R[2][1]));
t = std::fabs((T[1] * R[0][0]) - (T[0] * R[1][0]));
if (t > (ra + rb + FLT_EPSILON))
return false;
/* A2 x B1 */
ra = (extents[0] * std::fabs(R[1][1])) + (extents[1] * std::fabs(R[0][1]));
rb = (other.extents[0] * std::fabs(R[2][2])) + (other.extents[2] * std::fabs(R[2][0]));
t = std::fabs((T[1] * R[0][1]) - (T[0] * R[1][1]));
if (t > (ra + rb + FLT_EPSILON))
return false;
/* A2 x B2 */
ra = (extents[0] * std::fabs(R[1][2])) + (extents[1] * std::fabs(R[0][2]));
rb = (other.extents[0] * std::fabs(R[2][1])) + (other.extents[1] * std::fabs(R[2][0]));
t = std::fabs((T[1] * R[0][2]) - (T[0] * R[1][2]));
if (t > (ra + rb + FLT_EPSILON))
return false;
return true;
}
}