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