mirror of https://github.com/AxioDL/zeus.git
133 lines
4.5 KiB
C++
133 lines
4.5 KiB
C++
#include "zeus/COBBox.hpp"
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#include <cfloat>
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#include <cmath>
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namespace zeus {
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CAABox COBBox::calculateAABox(const CTransform& worldXf) const {
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CAABox ret;
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CTransform trans = worldXf * transform;
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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},
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{-1.f, -1.f, -1.f}, {-1.f, -1.f, 1.f}, {-1.f, 1.f, -1.f}, {-1.f, 1.f, 1.f}};
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CVector3f p = extents * basis[0];
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ret.accumulateBounds(trans * p);
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p = extents * basis[1];
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ret.accumulateBounds(trans * p);
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p = extents * basis[2];
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ret.accumulateBounds(trans * p);
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p = extents * basis[3];
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ret.accumulateBounds(trans * p);
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p = extents * basis[4];
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ret.accumulateBounds(trans * p);
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p = extents * basis[5];
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ret.accumulateBounds(trans * p);
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p = extents * basis[6];
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ret.accumulateBounds(trans * p);
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p = extents * basis[7];
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ret.accumulateBounds(trans * p);
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return ret;
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}
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bool COBBox::OBBIntersectsBox(const COBBox& other) const {
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CVector3f v = other.transform.origin - transform.origin;
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CVector3f T = CVector3f(v.dot(transform.basis[0]), v.dot(transform.basis[1]), v.dot(transform.basis[2]));
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CMatrix3f R;
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float ra, rb, t;
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for (int i = 0; i < 3; ++i)
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for (int k = 0; k < 3; ++k)
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R[i][k] = transform.basis[i].dot(other.transform.basis[k]);
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for (int i = 0; i < 3; ++i) {
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ra = extents[i];
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rb = (other.extents[0] * std::fabs(R[i][0])) + (other.extents[1] * std::fabs(R[i][1])) +
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(other.extents[2] * std::fabs(R[i][2]));
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t = std::fabs(T[i]);
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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}
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for (int k = 0; k < 3; ++k) {
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ra = (extents[0] * std::fabs(R[0][k])) + (extents[1] * std::fabs(R[1][k])) + (extents[2] * std::fabs(R[2][k]));
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rb = other.extents[k];
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t = std::fabs(T[0] * R[0][k] + T[1] * R[1][k] + T[2] * R[2][k]);
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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}
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/* A0 x B0 */
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ra = (extents[1] * std::fabs(R[2][0])) + (extents[2] * std::fabs(R[1][0]));
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rb = (other.extents[1] * std::fabs(R[0][2])) + (other.extents[2] * std::fabs(R[0][1]));
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t = std::fabs((T[2] * R[1][0]) - (T[1] * R[2][0]));
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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/* A0 x B1 */
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ra = (extents[1] * std::fabs(R[2][1])) + (extents[2] * std::fabs(R[1][1]));
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rb = (other.extents[0] * std::fabs(R[0][2])) + (other.extents[2] * std::fabs(R[0][0]));
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t = std::fabs((T[2] * R[1][1]) - (T[1] * R[2][1]));
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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/* A0 x B2 */
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ra = (extents[1] * std::fabs(R[2][2])) + (extents[2] * std::fabs(R[1][2]));
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rb = (other.extents[0] * std::fabs(R[0][1])) + (other.extents[1] * std::fabs(R[0][0]));
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t = std::fabs((T[2] * R[1][2]) - (T[1] * R[2][2]));
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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/* A1 x B0 */
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ra = (extents[0] * std::fabs(R[2][0])) + (extents[2] * std::fabs(R[0][0]));
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rb = (other.extents[1] * std::fabs(R[1][2])) + (other.extents[2] * std::fabs(R[1][1]));
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t = std::fabs((T[0] * R[2][0]) - (T[2] * R[0][0]));
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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/* A1 x B1 */
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ra = (extents[0] * std::fabs(R[2][1])) + (extents[2] * std::fabs(R[0][1]));
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rb = (other.extents[0] * std::fabs(R[1][2])) + (other.extents[2] * std::fabs(R[1][0]));
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t = std::fabs((T[0] * R[2][1]) - (T[2] * R[0][1]));
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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/* A1 x B2 */
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ra = (extents[0] * std::fabs(R[2][2])) + (extents[2] * std::fabs(R[0][2]));
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rb = (other.extents[0] * std::fabs(R[1][1])) + (other.extents[1] * std::fabs(R[1][0]));
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t = std::fabs((T[0] * R[2][2]) - (T[2] * R[0][2]));
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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/* A2 x B0 */
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ra = (extents[0] * std::fabs(R[1][0])) + (extents[1] * std::fabs(R[0][0]));
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rb = (other.extents[1] * std::fabs(R[2][2])) + (other.extents[2] * std::fabs(R[2][1]));
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t = std::fabs((T[1] * R[0][0]) - (T[0] * R[1][0]));
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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/* A2 x B1 */
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ra = (extents[0] * std::fabs(R[1][1])) + (extents[1] * std::fabs(R[0][1]));
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rb = (other.extents[0] * std::fabs(R[2][2])) + (other.extents[2] * std::fabs(R[2][0]));
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t = std::fabs((T[1] * R[0][1]) - (T[0] * R[1][1]));
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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/* A2 x B2 */
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ra = (extents[0] * std::fabs(R[1][2])) + (extents[1] * std::fabs(R[0][2]));
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rb = (other.extents[0] * std::fabs(R[2][1])) + (other.extents[1] * std::fabs(R[2][0]));
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t = std::fabs((T[1] * R[0][2]) - (T[0] * R[1][2]));
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if (t > (ra + rb + FLT_EPSILON))
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return false;
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return true;
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}
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} // namespace zeus
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