From e33e19d0587146859d48a134ec9fd94e7b7ba5cd Mon Sep 17 00:00:00 2001 From: "FWoltermann@gmail.com" Date: Thu, 8 Dec 2011 14:53:40 +0000 Subject: Initial upload --- Opcode/OPC_BoxBoxOverlap.h | 122 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 122 insertions(+) create mode 100644 Opcode/OPC_BoxBoxOverlap.h (limited to 'Opcode/OPC_BoxBoxOverlap.h') diff --git a/Opcode/OPC_BoxBoxOverlap.h b/Opcode/OPC_BoxBoxOverlap.h new file mode 100644 index 0000000..550ab01 --- /dev/null +++ b/Opcode/OPC_BoxBoxOverlap.h @@ -0,0 +1,122 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * OBB-OBB overlap test using the separating axis theorem. + * - original code by Gomez / Gamasutra (similar to Gottschalk's one in RAPID) + * - optimized for AABB trees by computing the rotation matrix once (SOLID-fashion) + * - the fabs matrix is precomputed as well and epsilon-tweaked (RAPID-style, we found this almost mandatory) + * - Class III axes can be disabled... (SOLID & Intel fashion) + * - ...or enabled to perform some profiling + * - CPU comparisons used when appropriate + * - lazy evaluation sometimes saves some work in case of early exits (unlike SOLID) + * + * \param ea [in] extents from box A + * \param ca [in] center from box A + * \param eb [in] extents from box B + * \param cb [in] center from box B + * \return true if boxes overlap + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +inline_ BOOL AABBTreeCollider::BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb) +{ + // Stats + mNbBVBVTests++; + + float t,t2; + + // Class I : A's basis vectors + float Tx = (mR1to0.m[0][0]*cb.x + mR1to0.m[1][0]*cb.y + mR1to0.m[2][0]*cb.z) + mT1to0.x - ca.x; + t = ea.x + eb.x*mAR.m[0][0] + eb.y*mAR.m[1][0] + eb.z*mAR.m[2][0]; + if(GREATER(Tx, t)) return FALSE; + + float Ty = (mR1to0.m[0][1]*cb.x + mR1to0.m[1][1]*cb.y + mR1to0.m[2][1]*cb.z) + mT1to0.y - ca.y; + t = ea.y + eb.x*mAR.m[0][1] + eb.y*mAR.m[1][1] + eb.z*mAR.m[2][1]; + if(GREATER(Ty, t)) return FALSE; + + float Tz = (mR1to0.m[0][2]*cb.x + mR1to0.m[1][2]*cb.y + mR1to0.m[2][2]*cb.z) + mT1to0.z - ca.z; + t = ea.z + eb.x*mAR.m[0][2] + eb.y*mAR.m[1][2] + eb.z*mAR.m[2][2]; + if(GREATER(Tz, t)) return FALSE; + + // Class II : B's basis vectors + t = Tx*mR1to0.m[0][0] + Ty*mR1to0.m[0][1] + Tz*mR1to0.m[0][2]; t2 = ea.x*mAR.m[0][0] + ea.y*mAR.m[0][1] + ea.z*mAR.m[0][2] + eb.x; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mR1to0.m[1][0] + Ty*mR1to0.m[1][1] + Tz*mR1to0.m[1][2]; t2 = ea.x*mAR.m[1][0] + ea.y*mAR.m[1][1] + ea.z*mAR.m[1][2] + eb.y; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mR1to0.m[2][0] + Ty*mR1to0.m[2][1] + Tz*mR1to0.m[2][2]; t2 = ea.x*mAR.m[2][0] + ea.y*mAR.m[2][1] + ea.z*mAR.m[2][2] + eb.z; + if(GREATER(t, t2)) return FALSE; + + // Class III : 9 cross products + // Cool trick: always perform the full test for first level, regardless of settings. + // That way pathological cases (such as the pencils scene) are quickly rejected anyway ! + if(mFullBoxBoxTest || mNbBVBVTests==1) + { + t = Tz*mR1to0.m[0][1] - Ty*mR1to0.m[0][2]; t2 = ea.y*mAR.m[0][2] + ea.z*mAR.m[0][1] + eb.y*mAR.m[2][0] + eb.z*mAR.m[1][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B0 + t = Tz*mR1to0.m[1][1] - Ty*mR1to0.m[1][2]; t2 = ea.y*mAR.m[1][2] + ea.z*mAR.m[1][1] + eb.x*mAR.m[2][0] + eb.z*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B1 + t = Tz*mR1to0.m[2][1] - Ty*mR1to0.m[2][2]; t2 = ea.y*mAR.m[2][2] + ea.z*mAR.m[2][1] + eb.x*mAR.m[1][0] + eb.y*mAR.m[0][0]; if(GREATER(t, t2)) return FALSE; // L = A0 x B2 + t = Tx*mR1to0.m[0][2] - Tz*mR1to0.m[0][0]; t2 = ea.x*mAR.m[0][2] + ea.z*mAR.m[0][0] + eb.y*mAR.m[2][1] + eb.z*mAR.m[1][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B0 + t = Tx*mR1to0.m[1][2] - Tz*mR1to0.m[1][0]; t2 = ea.x*mAR.m[1][2] + ea.z*mAR.m[1][0] + eb.x*mAR.m[2][1] + eb.z*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B1 + t = Tx*mR1to0.m[2][2] - Tz*mR1to0.m[2][0]; t2 = ea.x*mAR.m[2][2] + ea.z*mAR.m[2][0] + eb.x*mAR.m[1][1] + eb.y*mAR.m[0][1]; if(GREATER(t, t2)) return FALSE; // L = A1 x B2 + t = Ty*mR1to0.m[0][0] - Tx*mR1to0.m[0][1]; t2 = ea.x*mAR.m[0][1] + ea.y*mAR.m[0][0] + eb.y*mAR.m[2][2] + eb.z*mAR.m[1][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B0 + t = Ty*mR1to0.m[1][0] - Tx*mR1to0.m[1][1]; t2 = ea.x*mAR.m[1][1] + ea.y*mAR.m[1][0] + eb.x*mAR.m[2][2] + eb.z*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B1 + t = Ty*mR1to0.m[2][0] - Tx*mR1to0.m[2][1]; t2 = ea.x*mAR.m[2][1] + ea.y*mAR.m[2][0] + eb.x*mAR.m[1][2] + eb.y*mAR.m[0][2]; if(GREATER(t, t2)) return FALSE; // L = A2 x B2 + } + return TRUE; +} + +//! A dedicated version when one box is constant +inline_ BOOL OBBCollider::BoxBoxOverlap(const Point& extents, const Point& center) +{ + // Stats + mNbVolumeBVTests++; + + float t,t2; + + // Class I : A's basis vectors + float Tx = mTBoxToModel.x - center.x; t = extents.x + mBBx1; if(GREATER(Tx, t)) return FALSE; + float Ty = mTBoxToModel.y - center.y; t = extents.y + mBBy1; if(GREATER(Ty, t)) return FALSE; + float Tz = mTBoxToModel.z - center.z; t = extents.z + mBBz1; if(GREATER(Tz, t)) return FALSE; + + // Class II : B's basis vectors + t = Tx*mRBoxToModel.m[0][0] + Ty*mRBoxToModel.m[0][1] + Tz*mRBoxToModel.m[0][2]; + t2 = extents.x*mAR.m[0][0] + extents.y*mAR.m[0][1] + extents.z*mAR.m[0][2] + mBoxExtents.x; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mRBoxToModel.m[1][0] + Ty*mRBoxToModel.m[1][1] + Tz*mRBoxToModel.m[1][2]; + t2 = extents.x*mAR.m[1][0] + extents.y*mAR.m[1][1] + extents.z*mAR.m[1][2] + mBoxExtents.y; + if(GREATER(t, t2)) return FALSE; + + t = Tx*mRBoxToModel.m[2][0] + Ty*mRBoxToModel.m[2][1] + Tz*mRBoxToModel.m[2][2]; + t2 = extents.x*mAR.m[2][0] + extents.y*mAR.m[2][1] + extents.z*mAR.m[2][2] + mBoxExtents.z; + if(GREATER(t, t2)) return FALSE; + + // Class III : 9 cross products + // Cool trick: always perform the full test for first level, regardless of settings. + // That way pathological cases (such as the pencils scene) are quickly rejected anyway ! + if(mFullBoxBoxTest || mNbVolumeBVTests==1) + { + t = Tz*mRBoxToModel.m[0][1] - Ty*mRBoxToModel.m[0][2]; t2 = extents.y*mAR.m[0][2] + extents.z*mAR.m[0][1] + mBB_1; if(GREATER(t, t2)) return FALSE; // L = A0 x B0 + t = Tz*mRBoxToModel.m[1][1] - Ty*mRBoxToModel.m[1][2]; t2 = extents.y*mAR.m[1][2] + extents.z*mAR.m[1][1] + mBB_2; if(GREATER(t, t2)) return FALSE; // L = A0 x B1 + t = Tz*mRBoxToModel.m[2][1] - Ty*mRBoxToModel.m[2][2]; t2 = extents.y*mAR.m[2][2] + extents.z*mAR.m[2][1] + mBB_3; if(GREATER(t, t2)) return FALSE; // L = A0 x B2 + t = Tx*mRBoxToModel.m[0][2] - Tz*mRBoxToModel.m[0][0]; t2 = extents.x*mAR.m[0][2] + extents.z*mAR.m[0][0] + mBB_4; if(GREATER(t, t2)) return FALSE; // L = A1 x B0 + t = Tx*mRBoxToModel.m[1][2] - Tz*mRBoxToModel.m[1][0]; t2 = extents.x*mAR.m[1][2] + extents.z*mAR.m[1][0] + mBB_5; if(GREATER(t, t2)) return FALSE; // L = A1 x B1 + t = Tx*mRBoxToModel.m[2][2] - Tz*mRBoxToModel.m[2][0]; t2 = extents.x*mAR.m[2][2] + extents.z*mAR.m[2][0] + mBB_6; if(GREATER(t, t2)) return FALSE; // L = A1 x B2 + t = Ty*mRBoxToModel.m[0][0] - Tx*mRBoxToModel.m[0][1]; t2 = extents.x*mAR.m[0][1] + extents.y*mAR.m[0][0] + mBB_7; if(GREATER(t, t2)) return FALSE; // L = A2 x B0 + t = Ty*mRBoxToModel.m[1][0] - Tx*mRBoxToModel.m[1][1]; t2 = extents.x*mAR.m[1][1] + extents.y*mAR.m[1][0] + mBB_8; if(GREATER(t, t2)) return FALSE; // L = A2 x B1 + t = Ty*mRBoxToModel.m[2][0] - Tx*mRBoxToModel.m[2][1]; t2 = extents.x*mAR.m[2][1] + extents.y*mAR.m[2][0] + mBB_9; if(GREATER(t, t2)) return FALSE; // L = A2 x B2 + } + return TRUE; +} + +//! A special version for 2 axis-aligned boxes +inline_ BOOL AABBCollider::AABBAABBOverlap(const Point& extents, const Point& center) +{ + // Stats + mNbVolumeBVTests++; + + float tx = mBox.mCenter.x - center.x; float ex = extents.x + mBox.mExtents.x; if(GREATER(tx, ex)) return FALSE; + float ty = mBox.mCenter.y - center.y; float ey = extents.y + mBox.mExtents.y; if(GREATER(ty, ey)) return FALSE; + float tz = mBox.mCenter.z - center.z; float ez = extents.z + mBox.mExtents.z; if(GREATER(tz, ez)) return FALSE; + + return TRUE; +} -- cgit v1.1