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-rw-r--r--contrib/Opcode/OPC_LSSAABBOverlap.h523
1 files changed, 0 insertions, 523 deletions
diff --git a/contrib/Opcode/OPC_LSSAABBOverlap.h b/contrib/Opcode/OPC_LSSAABBOverlap.h
deleted file mode 100644
index 5afb190..0000000
--- a/contrib/Opcode/OPC_LSSAABBOverlap.h
+++ /dev/null
@@ -1,523 +0,0 @@
-
-// Following code from Magic-Software (http://www.magic-software.com/)
-// A bit modified for Opcode
-
-inline_ float OPC_PointAABBSqrDist(const IcePoint& Point, const IcePoint& center, const IcePoint& extents)
-{
- // Compute coordinates of IcePoint in box coordinate system
- IcePoint Closest = Point - center;
-
- float SqrDistance = 0.0f;
-
- if(Closest.x < -extents.x)
- {
- float Delta = Closest.x + extents.x;
- SqrDistance += Delta*Delta;
- }
- else if(Closest.x > extents.x)
- {
- float Delta = Closest.x - extents.x;
- SqrDistance += Delta*Delta;
- }
-
- if(Closest.y < -extents.y)
- {
- float Delta = Closest.y + extents.y;
- SqrDistance += Delta*Delta;
- }
- else if(Closest.y > extents.y)
- {
- float Delta = Closest.y - extents.y;
- SqrDistance += Delta*Delta;
- }
-
- if(Closest.z < -extents.z)
- {
- float Delta = Closest.z + extents.z;
- SqrDistance += Delta*Delta;
- }
- else if(Closest.z > extents.z)
- {
- float Delta = Closest.z - extents.z;
- SqrDistance += Delta*Delta;
- }
- return SqrDistance;
-}
-
-static void Face(int i0, int i1, int i2, IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, const IcePoint& rkPmE, float* pfLParam, float& rfSqrDistance)
-{
- IcePoint kPpE;
- float fLSqr, fInv, fTmp, fParam, fT, fDelta;
-
- kPpE[i1] = rkPnt[i1] + extents[i1];
- kPpE[i2] = rkPnt[i2] + extents[i2];
- if(rkDir[i0]*kPpE[i1] >= rkDir[i1]*rkPmE[i0])
- {
- if(rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0])
- {
- // v[i1] >= -e[i1], v[i2] >= -e[i2] (distance = 0)
- if(pfLParam)
- {
- rkPnt[i0] = extents[i0];
- fInv = 1.0f/rkDir[i0];
- rkPnt[i1] -= rkDir[i1]*rkPmE[i0]*fInv;
- rkPnt[i2] -= rkDir[i2]*rkPmE[i0]*fInv;
- *pfLParam = -rkPmE[i0]*fInv;
- }
- }
- else
- {
- // v[i1] >= -e[i1], v[i2] < -e[i2]
- fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i2]*rkDir[i2];
- fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]);
- if(fTmp <= 2.0f*fLSqr*extents[i1])
- {
- fT = fTmp/fLSqr;
- fLSqr += rkDir[i1]*rkDir[i1];
- fTmp = kPpE[i1] - fT;
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = fT - extents[i1];
- rkPnt[i2] = -extents[i2];
- }
- }
- else
- {
- fLSqr += rkDir[i1]*rkDir[i1];
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = extents[i1];
- rkPnt[i2] = -extents[i2];
- }
- }
- }
- }
- else
- {
- if ( rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0] )
- {
- // v[i1] < -e[i1], v[i2] >= -e[i2]
- fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1];
- fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]);
- if(fTmp <= 2.0f*fLSqr*extents[i2])
- {
- fT = fTmp/fLSqr;
- fLSqr += rkDir[i2]*rkDir[i2];
- fTmp = kPpE[i2] - fT;
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp;
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = -extents[i1];
- rkPnt[i2] = fT - extents[i2];
- }
- }
- else
- {
- fLSqr += rkDir[i2]*rkDir[i2];
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = -extents[i1];
- rkPnt[i2] = extents[i2];
- }
- }
- }
- else
- {
- // v[i1] < -e[i1], v[i2] < -e[i2]
- fLSqr = rkDir[i0]*rkDir[i0]+rkDir[i2]*rkDir[i2];
- fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]);
- if(fTmp >= 0.0f)
- {
- // v[i1]-edge is closest
- if ( fTmp <= 2.0f*fLSqr*extents[i1] )
- {
- fT = fTmp/fLSqr;
- fLSqr += rkDir[i1]*rkDir[i1];
- fTmp = kPpE[i1] - fT;
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = fT - extents[i1];
- rkPnt[i2] = -extents[i2];
- }
- }
- else
- {
- fLSqr += rkDir[i1]*rkDir[i1];
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = extents[i1];
- rkPnt[i2] = -extents[i2];
- }
- }
- return;
- }
-
- fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1];
- fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]);
- if(fTmp >= 0.0f)
- {
- // v[i2]-edge is closest
- if(fTmp <= 2.0f*fLSqr*extents[i2])
- {
- fT = fTmp/fLSqr;
- fLSqr += rkDir[i2]*rkDir[i2];
- fTmp = kPpE[i2] - fT;
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp;
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = -extents[i1];
- rkPnt[i2] = fT - extents[i2];
- }
- }
- else
- {
- fLSqr += rkDir[i2]*rkDir[i2];
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = -extents[i1];
- rkPnt[i2] = extents[i2];
- }
- }
- return;
- }
-
- // (v[i1],v[i2])-corner is closest
- fLSqr += rkDir[i2]*rkDir[i2];
- fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*kPpE[i2];
- fParam = -fDelta/fLSqr;
- rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
-
- if(pfLParam)
- {
- *pfLParam = fParam;
- rkPnt[i0] = extents[i0];
- rkPnt[i1] = -extents[i1];
- rkPnt[i2] = -extents[i2];
- }
- }
- }
-}
-
-static void CaseNoZeros(IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, float* pfLParam, float& rfSqrDistance)
-{
- IcePoint kPmE(rkPnt.x - extents.x, rkPnt.y - extents.y, rkPnt.z - extents.z);
-
- float fProdDxPy, fProdDyPx, fProdDzPx, fProdDxPz, fProdDzPy, fProdDyPz;
-
- fProdDxPy = rkDir.x*kPmE.y;
- fProdDyPx = rkDir.y*kPmE.x;
- if(fProdDyPx >= fProdDxPy)
- {
- fProdDzPx = rkDir.z*kPmE.x;
- fProdDxPz = rkDir.x*kPmE.z;
- if(fProdDzPx >= fProdDxPz)
- {
- // line intersects x = e0
- Face(0, 1, 2, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
- }
- else
- {
- // line intersects z = e2
- Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
- }
- }
- else
- {
- fProdDzPy = rkDir.z*kPmE.y;
- fProdDyPz = rkDir.y*kPmE.z;
- if(fProdDzPy >= fProdDyPz)
- {
- // line intersects y = e1
- Face(1, 2, 0, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
- }
- else
- {
- // line intersects z = e2
- Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
- }
- }
-}
-
-static void Case0(int i0, int i1, int i2, IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, float* pfLParam, float& rfSqrDistance)
-{
- float fPmE0 = rkPnt[i0] - extents[i0];
- float fPmE1 = rkPnt[i1] - extents[i1];
- float fProd0 = rkDir[i1]*fPmE0;
- float fProd1 = rkDir[i0]*fPmE1;
- float fDelta, fInvLSqr, fInv;
-
- if(fProd0 >= fProd1)
- {
- // line intersects P[i0] = e[i0]
- rkPnt[i0] = extents[i0];
-
- float fPpE1 = rkPnt[i1] + extents[i1];
- fDelta = fProd0 - rkDir[i0]*fPpE1;
- if(fDelta >= 0.0f)
- {
- fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]);
- rfSqrDistance += fDelta*fDelta*fInvLSqr;
- if(pfLParam)
- {
- rkPnt[i1] = -extents[i1];
- *pfLParam = -(rkDir[i0]*fPmE0+rkDir[i1]*fPpE1)*fInvLSqr;
- }
- }
- else
- {
- if(pfLParam)
- {
- fInv = 1.0f/rkDir[i0];
- rkPnt[i1] -= fProd0*fInv;
- *pfLParam = -fPmE0*fInv;
- }
- }
- }
- else
- {
- // line intersects P[i1] = e[i1]
- rkPnt[i1] = extents[i1];
-
- float fPpE0 = rkPnt[i0] + extents[i0];
- fDelta = fProd1 - rkDir[i1]*fPpE0;
- if(fDelta >= 0.0f)
- {
- fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]);
- rfSqrDistance += fDelta*fDelta*fInvLSqr;
- if(pfLParam)
- {
- rkPnt[i0] = -extents[i0];
- *pfLParam = -(rkDir[i0]*fPpE0+rkDir[i1]*fPmE1)*fInvLSqr;
- }
- }
- else
- {
- if(pfLParam)
- {
- fInv = 1.0f/rkDir[i1];
- rkPnt[i0] -= fProd1*fInv;
- *pfLParam = -fPmE1*fInv;
- }
- }
- }
-
- if(rkPnt[i2] < -extents[i2])
- {
- fDelta = rkPnt[i2] + extents[i2];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i2] = -extents[i2];
- }
- else if ( rkPnt[i2] > extents[i2] )
- {
- fDelta = rkPnt[i2] - extents[i2];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i2] = extents[i2];
- }
-}
-
-static void Case00(int i0, int i1, int i2, IcePoint& rkPnt, const IcePoint& rkDir, const IcePoint& extents, float* pfLParam, float& rfSqrDistance)
-{
- float fDelta;
-
- if(pfLParam)
- *pfLParam = (extents[i0] - rkPnt[i0])/rkDir[i0];
-
- rkPnt[i0] = extents[i0];
-
- if(rkPnt[i1] < -extents[i1])
- {
- fDelta = rkPnt[i1] + extents[i1];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i1] = -extents[i1];
- }
- else if(rkPnt[i1] > extents[i1])
- {
- fDelta = rkPnt[i1] - extents[i1];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i1] = extents[i1];
- }
-
- if(rkPnt[i2] < -extents[i2])
- {
- fDelta = rkPnt[i2] + extents[i2];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i1] = -extents[i2];
- }
- else if(rkPnt[i2] > extents[i2])
- {
- fDelta = rkPnt[i2] - extents[i2];
- rfSqrDistance += fDelta*fDelta;
- rkPnt[i2] = extents[i2];
- }
-}
-
-static void Case000(IcePoint& rkPnt, const IcePoint& extents, float& rfSqrDistance)
-{
- float fDelta;
-
- if(rkPnt.x < -extents.x)
- {
- fDelta = rkPnt.x + extents.x;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.x = -extents.x;
- }
- else if(rkPnt.x > extents.x)
- {
- fDelta = rkPnt.x - extents.x;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.x = extents.x;
- }
-
- if(rkPnt.y < -extents.y)
- {
- fDelta = rkPnt.y + extents.y;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.y = -extents.y;
- }
- else if(rkPnt.y > extents.y)
- {
- fDelta = rkPnt.y - extents.y;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.y = extents.y;
- }
-
- if(rkPnt.z < -extents.z)
- {
- fDelta = rkPnt.z + extents.z;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.z = -extents.z;
- }
- else if(rkPnt.z > extents.z)
- {
- fDelta = rkPnt.z - extents.z;
- rfSqrDistance += fDelta*fDelta;
- rkPnt.z = extents.z;
- }
-}
-
-static float SqrDistance(const Ray& rkLine, const IcePoint& center, const IcePoint& extents, float* pfLParam)
-{
- // compute coordinates of line in box coordinate system
- IcePoint kDiff = rkLine.mOrig - center;
- IcePoint kPnt = kDiff;
- IcePoint kDir = rkLine.mDir;
-
- // Apply reflections so that direction vector has nonnegative components.
- bool bReflect[3];
- for(int i=0;i<3;i++)
- {
- if(kDir[i]<0.0f)
- {
- kPnt[i] = -kPnt[i];
- kDir[i] = -kDir[i];
- bReflect[i] = true;
- }
- else
- {
- bReflect[i] = false;
- }
- }
-
- float fSqrDistance = 0.0f;
-
- if(kDir.x>0.0f)
- {
- if(kDir.y>0.0f)
- {
- if(kDir.z>0.0f) CaseNoZeros(kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,+)
- else Case0(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,0)
- }
- else
- {
- if(kDir.z>0.0f) Case0(0, 2, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,+)
- else Case00(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,0)
- }
- }
- else
- {
- if(kDir.y>0.0f)
- {
- if(kDir.z>0.0f) Case0(1, 2, 0, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,+)
- else Case00(1, 0, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,0)
- }
- else
- {
- if(kDir.z>0.0f) Case00(2, 0, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,0,+)
- else
- {
- Case000(kPnt, extents, fSqrDistance); // (0,0,0)
- if(pfLParam) *pfLParam = 0.0f;
- }
- }
- }
- return fSqrDistance;
-}
-
-inline_ float OPC_SegmentOBBSqrDist(const IceSegment& segment, const IcePoint& c0, const IcePoint& e0)
-{
- float fLP;
- float fSqrDistance = SqrDistance(Ray(segment.GetOrigin(), segment.ComputeDirection()), c0, e0, &fLP);
- if(fLP>=0.0f)
- {
- if(fLP<=1.0f) return fSqrDistance;
- else return OPC_PointAABBSqrDist(segment.mP1, c0, e0);
- }
- else return OPC_PointAABBSqrDist(segment.mP0, c0, e0);
-}
-
-inline_ BOOL LSSCollider::LSSAABBOverlap(const IcePoint& center, const IcePoint& extents)
-{
- // Stats
- mNbVolumeBVTests++;
-
- float s2 = OPC_SegmentOBBSqrDist(mSeg, center, extents);
- if(s2<mRadius2) return TRUE;
-
- return FALSE;
-}
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