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Diffstat (limited to 'contrib/Opcode/OPC_RayAABBOverlap.h')
| -rw-r--r-- | contrib/Opcode/OPC_RayAABBOverlap.h | 63 |
1 files changed, 63 insertions, 0 deletions
diff --git a/contrib/Opcode/OPC_RayAABBOverlap.h b/contrib/Opcode/OPC_RayAABBOverlap.h new file mode 100644 index 0000000..cd2bdfb --- /dev/null +++ b/contrib/Opcode/OPC_RayAABBOverlap.h @@ -0,0 +1,63 @@ +// Opcode 1.1: ray-AABB overlap tests based on Woo's code +// Opcode 1.2: ray-AABB overlap tests based on the separating axis theorem +// +// The IcePoint of intersection is not computed anymore. The distance to impact is not needed anymore +// since we now have two different queries for segments or rays. + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a segment-AABB overlap test using the separating axis theorem. IceSegment is cached within the class. + * \param center [in] AABB center + * \param extents [in] AABB extents + * \return true on overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL RayCollider::SegmentAABBOverlap(const IcePoint& center, const IcePoint& extents) +{ + // Stats + mNbRayBVTests++; + + float Dx = mData2.x - center.x; if(fabsf(Dx) > extents.x + mFDir.x) return FALSE; + float Dy = mData2.y - center.y; if(fabsf(Dy) > extents.y + mFDir.y) return FALSE; + float Dz = mData2.z - center.z; if(fabsf(Dz) > extents.z + mFDir.z) return FALSE; + + float f; + f = mData.y * Dz - mData.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE; + f = mData.z * Dx - mData.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE; + f = mData.x * Dy - mData.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE; + + return TRUE; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class. + * \param center [in] AABB center + * \param extents [in] AABB extents + * \return true on overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL RayCollider::RayAABBOverlap(const IcePoint& center, const IcePoint& extents) +{ + // Stats + mNbRayBVTests++; + +// float Dx = mOrigin.x - center.x; if(fabsf(Dx) > extents.x && Dx*mDir.x>=0.0f) return FALSE; +// float Dy = mOrigin.y - center.y; if(fabsf(Dy) > extents.y && Dy*mDir.y>=0.0f) return FALSE; +// float Dz = mOrigin.z - center.z; if(fabsf(Dz) > extents.z && Dz*mDir.z>=0.0f) return FALSE; + + float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && Dx*mDir.x>=0.0f) return FALSE; + float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && Dy*mDir.y>=0.0f) return FALSE; + float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && Dz*mDir.z>=0.0f) return FALSE; + +// float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && ((SIR(Dx)-1)^SIR(mDir.x))>=0.0f) return FALSE; +// float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && ((SIR(Dy)-1)^SIR(mDir.y))>=0.0f) return FALSE; +// float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && ((SIR(Dz)-1)^SIR(mDir.z))>=0.0f) return FALSE; + + float f; + f = mDir.y * Dz - mDir.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE; + f = mDir.z * Dx - mDir.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE; + f = mDir.x * Dy - mDir.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE; + + return TRUE; +} |