diff options
Diffstat (limited to 'core/math/aabb.h')
| -rw-r--r-- | core/math/aabb.h | 345 |
1 files changed, 345 insertions, 0 deletions
diff --git a/core/math/aabb.h b/core/math/aabb.h new file mode 100644 index 0000000000..c60213496a --- /dev/null +++ b/core/math/aabb.h @@ -0,0 +1,345 @@ +/*************************************************************************/ +/* aabb.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ +#ifndef AABB_H +#define AABB_H + +#include "math_defs.h" +#include "plane.h" +#include "vector3.h" + +/** + * AABB / AABB (Axis Aligned Bounding Box) + * This is implemented by a point (position) and the box size + */ + +class AABB { +public: + Vector3 position; + Vector3 size; + + real_t get_area() const; /// get area + _FORCE_INLINE_ bool has_no_area() const { + + return (size.x <= 0 || size.y <= 0 || size.z <= 0); + } + + _FORCE_INLINE_ bool has_no_surface() const { + + return (size.x <= 0 && size.y <= 0 && size.z <= 0); + } + + const Vector3 &get_position() const { return position; } + void set_position(const Vector3 &p_pos) { position = p_pos; } + const Vector3 &get_size() const { return size; } + void set_size(const Vector3 &p_size) { size = p_size; } + + bool operator==(const AABB &p_rval) const; + bool operator!=(const AABB &p_rval) const; + + _FORCE_INLINE_ bool intersects(const AABB &p_aabb) const; /// Both AABBs overlap + _FORCE_INLINE_ bool intersects_inclusive(const AABB &p_aabb) const; /// Both AABBs (or their faces) overlap + _FORCE_INLINE_ bool encloses(const AABB &p_aabb) const; /// p_aabb is completely inside this + + AABB merge(const AABB &p_with) const; + void merge_with(const AABB &p_aabb); ///merge with another AABB + AABB intersection(const AABB &p_aabb) const; ///get box where two intersect, empty if no intersection occurs + bool intersects_segment(const Vector3 &p_from, const Vector3 &p_to, Vector3 *r_clip = NULL, Vector3 *r_normal = NULL) const; + bool intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *r_clip = NULL, Vector3 *r_normal = NULL) const; + _FORCE_INLINE_ bool smits_intersect_ray(const Vector3 &p_from, const Vector3 &p_dir, real_t t0, real_t t1) const; + + _FORCE_INLINE_ bool intersects_convex_shape(const Plane *p_planes, int p_plane_count) const; + bool intersects_plane(const Plane &p_plane) const; + + _FORCE_INLINE_ bool has_point(const Vector3 &p_point) const; + _FORCE_INLINE_ Vector3 get_support(const Vector3 &p_normal) const; + + Vector3 get_longest_axis() const; + int get_longest_axis_index() const; + _FORCE_INLINE_ real_t get_longest_axis_size() const; + + Vector3 get_shortest_axis() const; + int get_shortest_axis_index() const; + _FORCE_INLINE_ real_t get_shortest_axis_size() const; + + AABB grow(real_t p_by) const; + _FORCE_INLINE_ void grow_by(real_t p_amount); + + void get_edge(int p_edge, Vector3 &r_from, Vector3 &r_to) const; + _FORCE_INLINE_ Vector3 get_endpoint(int p_point) const; + + AABB expand(const Vector3 &p_vector) const; + _FORCE_INLINE_ void project_range_in_plane(const Plane &p_plane, real_t &r_min, real_t &r_max) const; + _FORCE_INLINE_ void expand_to(const Vector3 &p_vector); /** expand to contain a point if necessary */ + + operator String() const; + + _FORCE_INLINE_ AABB() {} + inline AABB(const Vector3 &p_pos, const Vector3 &p_size) + : position(p_pos), + size(p_size) { + } +}; + +inline bool AABB::intersects(const AABB &p_aabb) const { + + if (position.x >= (p_aabb.position.x + p_aabb.size.x)) + return false; + if ((position.x + size.x) <= p_aabb.position.x) + return false; + if (position.y >= (p_aabb.position.y + p_aabb.size.y)) + return false; + if ((position.y + size.y) <= p_aabb.position.y) + return false; + if (position.z >= (p_aabb.position.z + p_aabb.size.z)) + return false; + if ((position.z + size.z) <= p_aabb.position.z) + return false; + + return true; +} + +inline bool AABB::intersects_inclusive(const AABB &p_aabb) const { + + if (position.x > (p_aabb.position.x + p_aabb.size.x)) + return false; + if ((position.x + size.x) < p_aabb.position.x) + return false; + if (position.y > (p_aabb.position.y + p_aabb.size.y)) + return false; + if ((position.y + size.y) < p_aabb.position.y) + return false; + if (position.z > (p_aabb.position.z + p_aabb.size.z)) + return false; + if ((position.z + size.z) < p_aabb.position.z) + return false; + + return true; +} + +inline bool AABB::encloses(const AABB &p_aabb) const { + + Vector3 src_min = position; + Vector3 src_max = position + size; + Vector3 dst_min = p_aabb.position; + Vector3 dst_max = p_aabb.position + p_aabb.size; + + return ( + (src_min.x <= dst_min.x) && + (src_max.x > dst_max.x) && + (src_min.y <= dst_min.y) && + (src_max.y > dst_max.y) && + (src_min.z <= dst_min.z) && + (src_max.z > dst_max.z)); +} + +Vector3 AABB::get_support(const Vector3 &p_normal) const { + + Vector3 half_extents = size * 0.5; + Vector3 ofs = position + half_extents; + + return Vector3( + (p_normal.x > 0) ? -half_extents.x : half_extents.x, + (p_normal.y > 0) ? -half_extents.y : half_extents.y, + (p_normal.z > 0) ? -half_extents.z : half_extents.z) + + ofs; +} + +Vector3 AABB::get_endpoint(int p_point) const { + + switch (p_point) { + case 0: return Vector3(position.x, position.y, position.z); + case 1: return Vector3(position.x, position.y, position.z + size.z); + case 2: return Vector3(position.x, position.y + size.y, position.z); + case 3: return Vector3(position.x, position.y + size.y, position.z + size.z); + case 4: return Vector3(position.x + size.x, position.y, position.z); + case 5: return Vector3(position.x + size.x, position.y, position.z + size.z); + case 6: return Vector3(position.x + size.x, position.y + size.y, position.z); + case 7: return Vector3(position.x + size.x, position.y + size.y, position.z + size.z); + }; + + ERR_FAIL_V(Vector3()); +} + +bool AABB::intersects_convex_shape(const Plane *p_planes, int p_plane_count) const { + + Vector3 half_extents = size * 0.5; + Vector3 ofs = position + half_extents; + + for (int i = 0; i < p_plane_count; i++) { + const Plane &p = p_planes[i]; + Vector3 point( + (p.normal.x > 0) ? -half_extents.x : half_extents.x, + (p.normal.y > 0) ? -half_extents.y : half_extents.y, + (p.normal.z > 0) ? -half_extents.z : half_extents.z); + point += ofs; + if (p.is_point_over(point)) + return false; + } + + return true; +} + +bool AABB::has_point(const Vector3 &p_point) const { + + if (p_point.x < position.x) + return false; + if (p_point.y < position.y) + return false; + if (p_point.z < position.z) + return false; + if (p_point.x > position.x + size.x) + return false; + if (p_point.y > position.y + size.y) + return false; + if (p_point.z > position.z + size.z) + return false; + + return true; +} + +inline void AABB::expand_to(const Vector3 &p_vector) { + + Vector3 begin = position; + Vector3 end = position + size; + + if (p_vector.x < begin.x) + begin.x = p_vector.x; + if (p_vector.y < begin.y) + begin.y = p_vector.y; + if (p_vector.z < begin.z) + begin.z = p_vector.z; + + if (p_vector.x > end.x) + end.x = p_vector.x; + if (p_vector.y > end.y) + end.y = p_vector.y; + if (p_vector.z > end.z) + end.z = p_vector.z; + + position = begin; + size = end - begin; +} + +void AABB::project_range_in_plane(const Plane &p_plane, real_t &r_min, real_t &r_max) const { + + Vector3 half_extents(size.x * 0.5, size.y * 0.5, size.z * 0.5); + Vector3 center(position.x + half_extents.x, position.y + half_extents.y, position.z + half_extents.z); + + real_t length = p_plane.normal.abs().dot(half_extents); + real_t distance = p_plane.distance_to(center); + r_min = distance - length; + r_max = distance + length; +} + +inline real_t AABB::get_longest_axis_size() const { + + real_t max_size = size.x; + + if (size.y > max_size) { + max_size = size.y; + } + + if (size.z > max_size) { + max_size = size.z; + } + + return max_size; +} + +inline real_t AABB::get_shortest_axis_size() const { + + real_t max_size = size.x; + + if (size.y < max_size) { + max_size = size.y; + } + + if (size.z < max_size) { + max_size = size.z; + } + + return max_size; +} + +bool AABB::smits_intersect_ray(const Vector3 &p_from, const Vector3 &p_dir, real_t t0, real_t t1) const { + + real_t divx = 1.0 / p_dir.x; + real_t divy = 1.0 / p_dir.y; + real_t divz = 1.0 / p_dir.z; + + Vector3 upbound = position + size; + real_t tmin, tmax, tymin, tymax, tzmin, tzmax; + if (p_dir.x >= 0) { + tmin = (position.x - p_from.x) * divx; + tmax = (upbound.x - p_from.x) * divx; + } else { + tmin = (upbound.x - p_from.x) * divx; + tmax = (position.x - p_from.x) * divx; + } + if (p_dir.y >= 0) { + tymin = (position.y - p_from.y) * divy; + tymax = (upbound.y - p_from.y) * divy; + } else { + tymin = (upbound.y - p_from.y) * divy; + tymax = (position.y - p_from.y) * divy; + } + if ((tmin > tymax) || (tymin > tmax)) + return false; + if (tymin > tmin) + tmin = tymin; + if (tymax < tmax) + tmax = tymax; + if (p_dir.z >= 0) { + tzmin = (position.z - p_from.z) * divz; + tzmax = (upbound.z - p_from.z) * divz; + } else { + tzmin = (upbound.z - p_from.z) * divz; + tzmax = (position.z - p_from.z) * divz; + } + if ((tmin > tzmax) || (tzmin > tmax)) + return false; + if (tzmin > tmin) + tmin = tzmin; + if (tzmax < tmax) + tmax = tzmax; + return ((tmin < t1) && (tmax > t0)); +} + +void AABB::grow_by(real_t p_amount) { + + position.x -= p_amount; + position.y -= p_amount; + position.z -= p_amount; + size.x += 2.0 * p_amount; + size.y += 2.0 * p_amount; + size.z += 2.0 * p_amount; +} + +#endif // AABB_H |