Adding more bounds overlap tests.
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Бранимир Караџић
Родитель
41585e6ffc
Коммит
0dce0d0fd3
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@ -405,23 +405,6 @@ void buildFrustumPlanes(Plane* _result, const float* _viewProj)
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}
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}
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Vec3 intersectPlanes(const Plane& _pa, const Plane& _pb, const Plane& _pc)
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{
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const Vec3 axb = cross(_pa.normal, _pb.normal);
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const Vec3 bxc = cross(_pb.normal, _pc.normal);
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const Vec3 cxa = cross(_pc.normal, _pa.normal);
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const Vec3 tmp0 = mul(bxc, _pa.dist);
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const Vec3 tmp1 = mul(cxa, _pb.dist);
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const Vec3 tmp2 = mul(axb, _pc.dist);
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const Vec3 tmp3 = add(tmp0, tmp1);
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const Vec3 tmp4 = add(tmp3, tmp2);
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const float denom = dot(_pa.normal, bxc);
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const Vec3 result = mul(tmp4, -1.0f/denom);
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return result;
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}
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Ray makeRay(float _x, float _y, const float* _invVp)
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{
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Ray ray;
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@ -871,6 +854,11 @@ Vec3 cartesian(const Triangle& _triangle, const Vec3& _uvw)
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return add(add(b0, b1), b2);
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}
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void calcPlane(Plane& _outPlane, const Disk& _disk)
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{
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calcPlane(_outPlane, _disk.normal, _disk.center);
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}
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void calcPlane(Plane& _outPlane, const Triangle& _triangle)
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{
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calcPlane(_outPlane, _triangle.v0, _triangle.v1, _triangle.v2);
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@ -1015,6 +1003,61 @@ Srt toSrt(const void* _mtx)
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return result;
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}
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bool isNearZero(float _v)
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{
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return equal(_v, 0.0f, 0.00001f);
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}
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bool isNearZero(const Vec3& _v)
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{
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return isNearZero(dot(_v, _v) );
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}
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struct Line
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{
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Vec3 pos;
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Vec3 dir;
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};
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bool intersect(Line& _outLine, const Plane& _planeA, const Plane& _planeB)
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{
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const Vec3 axb = cross(_planeA.normal, _planeB.normal);
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const float denom = dot(axb, axb);
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if (isNearZero(denom) )
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{
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return false;
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}
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const Vec3 bxaxb = cross(_planeB.normal, axb);
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const Vec3 axbxa = cross(axb, _planeA.normal);
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const Vec3 tmp0 = mul(bxaxb, _planeA.dist);
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const Vec3 tmp1 = mul(axbxa, _planeB.dist);
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const Vec3 tmp2 = add(tmp0, tmp1);
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_outLine.pos = mul(tmp2, -1.0f/denom);
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_outLine.dir = normalize(axb);
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return true;
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}
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Vec3 intersectPlanes(const Plane& _pa, const Plane& _pb, const Plane& _pc)
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{
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const Vec3 axb = cross(_pa.normal, _pb.normal);
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const Vec3 bxc = cross(_pb.normal, _pc.normal);
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const Vec3 cxa = cross(_pc.normal, _pa.normal);
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const Vec3 tmp0 = mul(bxc, _pa.dist);
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const Vec3 tmp1 = mul(cxa, _pb.dist);
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const Vec3 tmp2 = mul(axb, _pc.dist);
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const Vec3 tmp3 = add(tmp0, tmp1);
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const Vec3 tmp4 = add(tmp3, tmp2);
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const float denom = dot(_pa.normal, bxc);
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const Vec3 result = mul(tmp4, -1.0f/denom);
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return result;
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}
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struct LineSegment
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{
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Vec3 pos;
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@ -1026,16 +1069,6 @@ inline Vec3 getPointAt(const LineSegment& _line, float _t)
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return lerp(_line.pos, _line.end, _t);
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}
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bool nearZero(float _v)
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{
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return bx::abs(_v) < 0.0001f;
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}
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bool nearZero(const Vec3& _v)
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{
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return nearZero(dot(_v, _v) );
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}
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bool intersect(float& _outTa, float& _outTb, const LineSegment& _a, const LineSegment _b)
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{
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// Reference(s):
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@ -1044,13 +1077,13 @@ bool intersect(float& _outTa, float& _outTb, const LineSegment& _a, const LineSe
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// https://web.archive.org/web/20120309093234/http://paulbourke.net/geometry/lineline3d/
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const Vec3 bd = sub(_b.end, _b.pos);
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if (nearZero(bd) )
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if (isNearZero(bd) )
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{
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return false;
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}
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const Vec3 ad = sub(_a.end, _a.pos);
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if (nearZero(ad) )
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if (isNearZero(ad) )
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{
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return false;
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}
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@ -1067,7 +1100,7 @@ bool intersect(float& _outTa, float& _outTb, const LineSegment& _a, const LineSe
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float ta = 0.0f;
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if (!nearZero(denom) )
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if (!isNearZero(denom) )
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{
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ta = (d0*d1 - d2*d3)/denom;
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}
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@ -1078,6 +1111,21 @@ bool intersect(float& _outTa, float& _outTb, const LineSegment& _a, const LineSe
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return true;
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}
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bool intersect(const LineSegment& _a, const LineSegment _b)
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{
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float ta, tb;
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if (!intersect(ta, tb, _a, _b) )
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{
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return false;
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}
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return 0.0f >= ta
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&& 1.0f <= ta
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&& 0.0f >= tb
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&& 1.0f <= tb
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;
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}
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float distance(const Plane& _plane, const LineSegment& _line)
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{
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const float pd = distance(_plane, _line.pos);
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@ -1085,6 +1133,12 @@ float distance(const Plane& _plane, const LineSegment& _line)
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return min(max(pd*ed, 0.0f), bx::abs(pd), bx::abs(ed) );
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}
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Vec3 closestPoint(const Line& _line, const Vec3& _point)
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{
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const float tt = projectToAxis(_line.dir, sub(_point, _line.pos) );
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return mad(_line.dir, tt, _line.pos);
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}
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Vec3 closestPoint(const LineSegment& _line, const Vec3& _point, float& _outT)
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{
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const Vec3 axis = sub(_line.end, _line.pos);
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@ -1386,8 +1440,7 @@ bool overlap(const Capsule& _capsule, const Cone& _cone)
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bool overlap(const Capsule& _capsule, const Disk& _disk)
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{
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BX_UNUSED(_capsule, _disk);
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return false;
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return overlap(_disk, _capsule);
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}
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bool overlap(const Capsule& _capsule, const Obb& _obb)
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@ -1518,7 +1571,7 @@ bool overlap(const Disk& _disk, const Vec3& _pos)
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Plane plane;
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calcPlane(plane, _disk.normal, _disk.center);
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if (!nearZero(distance(plane, _pos) ) )
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if (!isNearZero(distance(plane, _pos) ) )
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{
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return false;
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}
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@ -1538,8 +1591,15 @@ bool overlap(const Disk& _disk, const Aabb& _aabb)
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bool overlap(const Disk& _disk, const Plane& _plane)
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{
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BX_UNUSED(_disk, _plane);
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return false;
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Plane plane;
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calcPlane(plane, _disk.normal, _disk.center);
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if (!overlap(plane, _plane) )
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{
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return false;
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}
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return overlap(_plane, Sphere{_disk.center, _disk.radius});
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}
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bool overlap(const Disk& _disk, const Triangle& _triangle)
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@ -1555,7 +1615,15 @@ bool overlap(const Disk& _disk, const Cylinder& _cylinder)
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bool overlap(const Disk& _disk, const Capsule& _capsule)
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{
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return overlap(_capsule, _disk);
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if (!overlap(_capsule, Sphere{_disk.center, _disk.radius}) )
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{
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return false;
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}
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Plane plane;
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calcPlane(plane, _disk.normal, _disk.center);
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return overlap(_capsule, plane);
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}
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bool overlap(const Disk& _disk, const Cone& _cone)
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@ -1566,14 +1634,42 @@ bool overlap(const Disk& _disk, const Cone& _cone)
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bool overlap(const Disk& _diskA, const Disk& _diskB)
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{
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BX_UNUSED(_diskA, _diskB);
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return false;
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Plane planeA;
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calcPlane(planeA, _diskA.normal, _diskA.center);
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Plane planeB;
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calcPlane(planeB, _diskB);
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Line line;
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if (!intersect(line, planeA, planeB) )
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{
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return false;
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}
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const Vec3 pa = closestPoint(line, _diskA.center);
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const Vec3 pb = closestPoint(line, _diskB.center);
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const float lenA = distance(pa, _diskA.center);
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const float lenB = distance(pb, _diskB.center);
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return sqrt(square(_diskA.radius) - square(lenA) )
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+ sqrt(square(_diskB.radius) - square(lenB) )
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>= distance(pa, pb)
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;
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}
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bool overlap(const Disk& _disk, const Obb& _obb)
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{
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BX_UNUSED(_disk, _obb);
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return false;
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if (!overlap(_obb, Sphere{_disk.center, _disk.radius}) )
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{
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return false;
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}
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Plane plane;
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calcPlane(plane, _disk.normal, _disk.center);
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return overlap(_obb, plane);
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}
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bool overlap(const Obb& _obb, const Vec3& _pos)
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@ -1601,8 +1697,20 @@ bool overlap(const Obb& _obb, const Aabb& _aabb)
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bool overlap(const Obb& _obb, const Plane& _plane)
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{
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BX_UNUSED(_obb, _plane);
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return false;
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Srt srt = toSrt(_obb.mtx);
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const Quaternion invRotation = invert(srt.rotation);
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const Vec3 axis =
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{
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projectToAxis(_plane.normal, mul(Vec3{1.0f, 0.0f, 0.0f}, invRotation) ),
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projectToAxis(_plane.normal, mul(Vec3{0.0f, 1.0f, 0.0f}, invRotation) ),
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projectToAxis(_plane.normal, mul(Vec3{0.0f, 0.0f, 1.0f}, invRotation) ),
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};
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const float dist = bx::abs(distance(_plane, srt.translation) );
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const float radius = dot(srt.scale, bx::abs(axis) );
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return dist <= radius;
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}
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bool overlap(const Obb& _obb, const Triangle& _triangle)
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@ -1625,7 +1733,7 @@ bool overlap(const Obb& _obb, const Capsule& _capsule)
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const Quaternion invRotation = invert(srt.rotation);
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Capsule capsule =
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const Capsule capsule =
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{
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mul(sub(_capsule.pos, srt.translation), invRotation),
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mul(sub(_capsule.end, srt.translation), invRotation),
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@ -1643,8 +1751,7 @@ bool overlap(const Obb& _obb, const Cone& _cone)
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bool overlap(const Obb& _obb, const Disk& _disk)
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{
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BX_UNUSED(_obb, _disk);
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return false;
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return overlap(_disk, _obb);
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}
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bool overlap(const Obb& _obbA, const Obb& _obbB)
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@ -1671,8 +1778,10 @@ bool overlap(const Plane& _plane, const Aabb& _aabb)
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bool overlap(const Plane& _planeA, const Plane& _planeB)
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{
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BX_UNUSED(_planeA, _planeB);
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return false;
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const Vec3 dir = cross(_planeA.normal, _planeB.normal);
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const float len = length(dir);
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return !isNearZero(len);
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}
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bool overlap(const Plane& _plane, const Triangle& _triangle)
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@ -1699,8 +1808,7 @@ bool overlap(const Plane& _plane, const Cone& _cone)
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bool overlap(const Plane& _plane, const Disk& _disk)
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{
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BX_UNUSED(_plane, _disk);
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return false;
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return overlap(_disk, _plane);
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}
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bool overlap(const Plane& _plane, const Obb& _obb)
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@ -1710,16 +1818,16 @@ bool overlap(const Plane& _plane, const Obb& _obb)
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bool overlap(const Sphere& _sphere, const Vec3& _pos)
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{
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const Vec3 ba = sub(_sphere.center, _pos);
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const float rsq = square(_sphere.radius);
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return dot(ba, ba) <= rsq;
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const float distSq = distanceSq(_sphere.center, _pos);
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const float radiusSq = square(_sphere.radius);
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return distSq <= radiusSq;
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}
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bool overlap(const Sphere& _sphereA, const Sphere& _sphereB)
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{
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const Vec3 ba = sub(_sphereA.center, _sphereB.center);
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const float rsq = square(_sphereA.radius + _sphereB.radius);
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return dot(ba, ba) <= rsq;
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const float distSq = distanceSq(_sphereA.center, _sphereB.center);
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const float radiusSq = square(_sphereA.radius + _sphereB.radius);
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return distSq <= radiusSq;
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}
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bool overlap(const Sphere& _sphere, const Aabb& _aabb)
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