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Add intersection test for COBBox

This commit is contained in:
Phillip Stephens 2017-01-23 02:10:35 -08:00
parent efc0580c31
commit ad74069739
1 changed files with 110 additions and 2 deletions
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112
include/zeus/COBBox.hpp
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@ -66,12 +66,120 @@ public:
static COBBox FromAABox(const CAABox& box, const CTransform& xf)
{
const CVector3f extents = xf.toMatrix4f().transposed().vec[1].toVec3f() - box.center();
const CVector3f extents = box.max - box.center();
const CTransform newXf = CTransform::Translate(box.center()) * xf;
return COBBox(newXf, extents);
}
bool OBBIntersectsBox(const COBBox& other);
bool OBBIntersectsBox(const COBBox& other)
{
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 AABoxIntersectsBox(const CAABox& other)
{
return OBBIntersectsBox(FromAABox(other, CTransform::Identity()));
}
};
}