diff options
Diffstat (limited to 'contrib/Opcode/OPC_TriBoxOverlap.h')
| -rw-r--r-- | contrib/Opcode/OPC_TriBoxOverlap.h | 339 |
1 files changed, 0 insertions, 339 deletions
diff --git a/contrib/Opcode/OPC_TriBoxOverlap.h b/contrib/Opcode/OPC_TriBoxOverlap.h deleted file mode 100644 index e32673b..0000000 --- a/contrib/Opcode/OPC_TriBoxOverlap.h +++ /dev/null @@ -1,339 +0,0 @@ - -//! This macro quickly finds the min & max values among 3 variables -#define FINDMINMAX(x0, x1, x2, min, max) \ - min = max = x0; \ - if(x1<min) min=x1; \ - if(x1>max) max=x1; \ - if(x2<min) min=x2; \ - if(x2>max) max=x2; - -//! TO BE DOCUMENTED -inline_ BOOL planeBoxOverlap(const IcePoint& normal, const float d, const IcePoint& maxbox) -{ - IcePoint vmin, vmax; - for(udword q=0;q<=2;q++) - { - if(normal[q]>0.0f) { vmin[q]=-maxbox[q]; vmax[q]=maxbox[q]; } - else { vmin[q]=maxbox[q]; vmax[q]=-maxbox[q]; } - } - if((normal|vmin)+d>0.0f) return FALSE; - if((normal|vmax)+d>=0.0f) return TRUE; - - return FALSE; -} - -//! TO BE DOCUMENTED -#define AXISTEST_X01(a, b, fa, fb) \ - min = a*v0.y - b*v0.z; \ - max = a*v2.y - b*v2.z; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.y + fb * extents.z; \ - if(min>rad || max<-rad) return FALSE; - -//! TO BE DOCUMENTED -#define AXISTEST_X2(a, b, fa, fb) \ - min = a*v0.y - b*v0.z; \ - max = a*v1.y - b*v1.z; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.y + fb * extents.z; \ - if(min>rad || max<-rad) return FALSE; - -//! TO BE DOCUMENTED -#define AXISTEST_Y02(a, b, fa, fb) \ - min = b*v0.z - a*v0.x; \ - max = b*v2.z - a*v2.x; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.x + fb * extents.z; \ - if(min>rad || max<-rad) return FALSE; - -//! TO BE DOCUMENTED -#define AXISTEST_Y1(a, b, fa, fb) \ - min = b*v0.z - a*v0.x; \ - max = b*v1.z - a*v1.x; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.x + fb * extents.z; \ - if(min>rad || max<-rad) return FALSE; - -//! TO BE DOCUMENTED -#define AXISTEST_Z12(a, b, fa, fb) \ - min = a*v1.x - b*v1.y; \ - max = a*v2.x - b*v2.y; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.x + fb * extents.y; \ - if(min>rad || max<-rad) return FALSE; - -//! TO BE DOCUMENTED -#define AXISTEST_Z0(a, b, fa, fb) \ - min = a*v0.x - b*v0.y; \ - max = a*v1.x - b*v1.y; \ - if(min>max) {const float tmp=max; max=min; min=tmp; } \ - rad = fa * extents.x + fb * extents.y; \ - if(min>rad || max<-rad) return FALSE; - -// compute triangle edges -// - edges lazy evaluated to take advantage of early exits -// - fabs precomputed (half less work, possible since extents are always >0) -// - customized macros to take advantage of the null component -// - axis vector discarded, possibly saves useless movs -#define IMPLEMENT_CLASS3_TESTS \ - float rad; \ - float min, max; \ - \ - const float fey0 = fabsf(e0.y); \ - const float fez0 = fabsf(e0.z); \ - AXISTEST_X01(e0.z, e0.y, fez0, fey0); \ - const float fex0 = fabsf(e0.x); \ - AXISTEST_Y02(e0.z, e0.x, fez0, fex0); \ - AXISTEST_Z12(e0.y, e0.x, fey0, fex0); \ - \ - const float fey1 = fabsf(e1.y); \ - const float fez1 = fabsf(e1.z); \ - AXISTEST_X01(e1.z, e1.y, fez1, fey1); \ - const float fex1 = fabsf(e1.x); \ - AXISTEST_Y02(e1.z, e1.x, fez1, fex1); \ - AXISTEST_Z0(e1.y, e1.x, fey1, fex1); \ - \ - const IcePoint e2 = mLeafVerts[0] - mLeafVerts[2]; \ - const float fey2 = fabsf(e2.y); \ - const float fez2 = fabsf(e2.z); \ - AXISTEST_X2(e2.z, e2.y, fez2, fey2); \ - const float fex2 = fabsf(e2.x); \ - AXISTEST_Y1(e2.z, e2.x, fez2, fex2); \ - AXISTEST_Z12(e2.y, e2.x, fey2, fex2); - -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -/** - * Triangle-Box overlap test using the separating axis theorem. - * This is the code from Tomas Möller, a bit optimized: - * - with some more lazy evaluation (faster path on PC) - * - with a tiny bit of assembly - * - with "SAT-lite" applied if needed - * - and perhaps with some more minor modifs... - * - * \param center [in] box center - * \param extents [in] box extents - * \return true if triangle & box overlap - */ -/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -inline_ BOOL AABBTreeCollider::TriBoxOverlap(const IcePoint& center, const IcePoint& extents) -{ - // Stats - mNbBVPrimTests++; - - // use separating axis theorem to test overlap between triangle and box - // need to test for overlap in these directions: - // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle - // we do not even need to test these) - // 2) normal of the triangle - // 3) crossproduct(edge from tri, {x,y,z}-directin) - // this gives 3x3=9 more tests - - // move everything so that the boxcenter is in (0,0,0) - IcePoint v0, v1, v2; - v0.x = mLeafVerts[0].x - center.x; - v1.x = mLeafVerts[1].x - center.x; - v2.x = mLeafVerts[2].x - center.x; - - // First, test overlap in the {x,y,z}-directions -#ifdef OPC_USE_FCOMI - // find min, max of the triangle in x-direction, and test for overlap in X - if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE; - if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE; - - // same for Y - v0.y = mLeafVerts[0].y - center.y; - v1.y = mLeafVerts[1].y - center.y; - v2.y = mLeafVerts[2].y - center.y; - - if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE; - if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE; - - // same for Z - v0.z = mLeafVerts[0].z - center.z; - v1.z = mLeafVerts[1].z - center.z; - v2.z = mLeafVerts[2].z - center.z; - - if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE; - if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE; -#else - float min,max; - // Find min, max of the triangle in x-direction, and test for overlap in X - FINDMINMAX(v0.x, v1.x, v2.x, min, max); - if(min>extents.x || max<-extents.x) return FALSE; - - // Same for Y - v0.y = mLeafVerts[0].y - center.y; - v1.y = mLeafVerts[1].y - center.y; - v2.y = mLeafVerts[2].y - center.y; - - FINDMINMAX(v0.y, v1.y, v2.y, min, max); - if(min>extents.y || max<-extents.y) return FALSE; - - // Same for Z - v0.z = mLeafVerts[0].z - center.z; - v1.z = mLeafVerts[1].z - center.z; - v2.z = mLeafVerts[2].z - center.z; - - FINDMINMAX(v0.z, v1.z, v2.z, min, max); - if(min>extents.z || max<-extents.z) return FALSE; -#endif - // 2) Test if the box intersects the plane of the triangle - // compute plane equation of triangle: normal*x+d=0 - // ### could be precomputed since we use the same leaf triangle several times - const IcePoint e0 = v1 - v0; - const IcePoint e1 = v2 - v1; - const IcePoint normal = e0 ^ e1; - const float d = -normal|v0; - if(!planeBoxOverlap(normal, d, extents)) return FALSE; - - // 3) "Class III" tests - if(mFullPrimBoxTest) - { - IMPLEMENT_CLASS3_TESTS - } - return TRUE; -} - -//! A dedicated version where the box is constant -inline_ BOOL OBBCollider::TriBoxOverlap() -{ - // Stats - mNbVolumePrimTests++; - - // Hook - const IcePoint& extents = mBoxExtents; - const IcePoint& v0 = mLeafVerts[0]; - const IcePoint& v1 = mLeafVerts[1]; - const IcePoint& v2 = mLeafVerts[2]; - - // use separating axis theorem to test overlap between triangle and box - // need to test for overlap in these directions: - // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle - // we do not even need to test these) - // 2) normal of the triangle - // 3) crossproduct(edge from tri, {x,y,z}-directin) - // this gives 3x3=9 more tests - - // Box center is already in (0,0,0) - - // First, test overlap in the {x,y,z}-directions -#ifdef OPC_USE_FCOMI - // find min, max of the triangle in x-direction, and test for overlap in X - if(FCMin3(v0.x, v1.x, v2.x)>mBoxExtents.x) return FALSE; - if(FCMax3(v0.x, v1.x, v2.x)<-mBoxExtents.x) return FALSE; - - if(FCMin3(v0.y, v1.y, v2.y)>mBoxExtents.y) return FALSE; - if(FCMax3(v0.y, v1.y, v2.y)<-mBoxExtents.y) return FALSE; - - if(FCMin3(v0.z, v1.z, v2.z)>mBoxExtents.z) return FALSE; - if(FCMax3(v0.z, v1.z, v2.z)<-mBoxExtents.z) return FALSE; -#else - float min,max; - // Find min, max of the triangle in x-direction, and test for overlap in X - FINDMINMAX(v0.x, v1.x, v2.x, min, max); - if(min>mBoxExtents.x || max<-mBoxExtents.x) return FALSE; - - FINDMINMAX(v0.y, v1.y, v2.y, min, max); - if(min>mBoxExtents.y || max<-mBoxExtents.y) return FALSE; - - FINDMINMAX(v0.z, v1.z, v2.z, min, max); - if(min>mBoxExtents.z || max<-mBoxExtents.z) return FALSE; -#endif - // 2) Test if the box intersects the plane of the triangle - // compute plane equation of triangle: normal*x+d=0 - // ### could be precomputed since we use the same leaf triangle several times - const IcePoint e0 = v1 - v0; - const IcePoint e1 = v2 - v1; - const IcePoint normal = e0 ^ e1; - const float d = -normal|v0; - if(!planeBoxOverlap(normal, d, mBoxExtents)) return FALSE; - - // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV) - { - IMPLEMENT_CLASS3_TESTS - } - return TRUE; -} - -//! ...and another one, jeez -inline_ BOOL AABBCollider::TriBoxOverlap() -{ - // Stats - mNbVolumePrimTests++; - - // Hook - const IcePoint& center = mBox.mCenter; - const IcePoint& extents = mBox.mExtents; - - // use separating axis theorem to test overlap between triangle and box - // need to test for overlap in these directions: - // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle - // we do not even need to test these) - // 2) normal of the triangle - // 3) crossproduct(edge from tri, {x,y,z}-directin) - // this gives 3x3=9 more tests - - // move everything so that the boxcenter is in (0,0,0) - IcePoint v0, v1, v2; - v0.x = mLeafVerts[0].x - center.x; - v1.x = mLeafVerts[1].x - center.x; - v2.x = mLeafVerts[2].x - center.x; - - // First, test overlap in the {x,y,z}-directions -#ifdef OPC_USE_FCOMI - // find min, max of the triangle in x-direction, and test for overlap in X - if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE; - if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE; - - // same for Y - v0.y = mLeafVerts[0].y - center.y; - v1.y = mLeafVerts[1].y - center.y; - v2.y = mLeafVerts[2].y - center.y; - - if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE; - if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE; - - // same for Z - v0.z = mLeafVerts[0].z - center.z; - v1.z = mLeafVerts[1].z - center.z; - v2.z = mLeafVerts[2].z - center.z; - - if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE; - if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE; -#else - float min,max; - // Find min, max of the triangle in x-direction, and test for overlap in X - FINDMINMAX(v0.x, v1.x, v2.x, min, max); - if(min>extents.x || max<-extents.x) return FALSE; - - // Same for Y - v0.y = mLeafVerts[0].y - center.y; - v1.y = mLeafVerts[1].y - center.y; - v2.y = mLeafVerts[2].y - center.y; - - FINDMINMAX(v0.y, v1.y, v2.y, min, max); - if(min>extents.y || max<-extents.y) return FALSE; - - // Same for Z - v0.z = mLeafVerts[0].z - center.z; - v1.z = mLeafVerts[1].z - center.z; - v2.z = mLeafVerts[2].z - center.z; - - FINDMINMAX(v0.z, v1.z, v2.z, min, max); - if(min>extents.z || max<-extents.z) return FALSE; -#endif - // 2) Test if the box intersects the plane of the triangle - // compute plane equation of triangle: normal*x+d=0 - // ### could be precomputed since we use the same leaf triangle several times - const IcePoint e0 = v1 - v0; - const IcePoint e1 = v2 - v1; - const IcePoint normal = e0 ^ e1; - const float d = -normal|v0; - if(!planeBoxOverlap(normal, d, extents)) return FALSE; - - // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV) - { - IMPLEMENT_CLASS3_TESTS - } - return TRUE; -} |