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-rw-r--r--core/math/geometry.h120
1 files changed, 60 insertions, 60 deletions
diff --git a/core/math/geometry.h b/core/math/geometry.h
index 25f5e11fcf..13cbbdce6f 100644
--- a/core/math/geometry.h
+++ b/core/math/geometry.h
@@ -48,15 +48,15 @@ public:
- static float get_closest_points_between_segments( const Vector2& p1,const Vector2& q1, const Vector2& p2,const Vector2& q2, Vector2& c1, Vector2& c2) {
+ static real_t get_closest_points_between_segments( const Vector2& p1,const Vector2& q1, const Vector2& p2,const Vector2& q2, Vector2& c1, Vector2& c2) {
Vector2 d1 = q1 - p1; // Direction vector of segment S1
Vector2 d2 = q2 - p2; // Direction vector of segment S2
Vector2 r = p1 - p2;
- float a = d1.dot(d1); // Squared length of segment S1, always nonnegative
- float e = d2.dot(d2); // Squared length of segment S2, always nonnegative
- float f = d2.dot(r);
- float s,t;
+ real_t a = d1.dot(d1); // Squared length of segment S1, always nonnegative
+ real_t e = d2.dot(d2); // Squared length of segment S2, always nonnegative
+ real_t f = d2.dot(r);
+ real_t s,t;
// Check if either or both segments degenerate into points
if (a <= CMP_EPSILON && e <= CMP_EPSILON) {
// Both segments degenerate into points
@@ -66,25 +66,25 @@ public:
}
if (a <= CMP_EPSILON) {
// First segment degenerates into a point
- s = 0.0f;
+ s = 0.0;
t = f / e; // s = 0 => t = (b*s + f) / e = f / e
- t = CLAMP(t, 0.0f, 1.0f);
+ t = CLAMP(t, 0.0, 1.0);
} else {
- float c = d1.dot(r);
+ real_t c = d1.dot(r);
if (e <= CMP_EPSILON) {
// Second segment degenerates into a point
- t = 0.0f;
- s = CLAMP(-c / a, 0.0f, 1.0f); // t = 0 => s = (b*t - c) / a = -c / a
+ t = 0.0;
+ s = CLAMP(-c / a, 0.0, 1.0); // t = 0 => s = (b*t - c) / a = -c / a
} else {
// The general nondegenerate case starts here
- float b = d1.dot(d2);
- float denom = a*e-b*b; // Always nonnegative
+ real_t b = d1.dot(d2);
+ real_t denom = a*e-b*b; // Always nonnegative
// If segments not parallel, compute closest point on L1 to L2 and
// clamp to segment S1. Else pick arbitrary s (here 0)
- if (denom != 0.0f) {
- s = CLAMP((b*f - c*e) / denom, 0.0f, 1.0f);
+ if (denom != 0.0) {
+ s = CLAMP((b*f - c*e) / denom, 0.0, 1.0);
} else
- s = 0.0f;
+ s = 0.0;
// Compute point on L2 closest to S1(s) using
// t = Dot((P1 + D1*s) - P2,D2) / Dot(D2,D2) = (b*s + f) / e
t = (b*s + f) / e;
@@ -92,12 +92,12 @@ public:
//If t in [0,1] done. Else clamp t, recompute s for the new value
// of t using s = Dot((P2 + D2*t) - P1,D1) / Dot(D1,D1)= (t*b - c) / a
// and clamp s to [0, 1]
- if (t < 0.0f) {
- t = 0.0f;
- s = CLAMP(-c / a, 0.0f, 1.0f);
- } else if (t > 1.0f) {
- t = 1.0f;
- s = CLAMP((b - c) / a, 0.0f, 1.0f);
+ if (t < 0.0) {
+ t = 0.0;
+ s = CLAMP(-c / a, 0.0, 1.0);
+ } else if (t > 1.0) {
+ t = 1.0;
+ s = CLAMP((b - c) / a, 0.0, 1.0);
}
}
}
@@ -113,8 +113,8 @@ public:
#define d_of(m,n,o,p) ( (m.x - n.x) * (o.x - p.x) + (m.y - n.y) * (o.y - p.y) + (m.z - n.z) * (o.z - p.z) )
//caluclate the parpametric position on the 2 curves, mua and mub
- float mua = ( d_of(p1,q1,q2,q1) * d_of(q2,q1,p2,p1) - d_of(p1,q1,p2,p1) * d_of(q2,q1,q2,q1) ) / ( d_of(p2,p1,p2,p1) * d_of(q2,q1,q2,q1) - d_of(q2,q1,p2,p1) * d_of(q2,q1,p2,p1) );
- float mub = ( d_of(p1,q1,q2,q1) + mua * d_of(q2,q1,p2,p1) ) / d_of(q2,q1,q2,q1);
+ real_t mua = ( d_of(p1,q1,q2,q1) * d_of(q2,q1,p2,p1) - d_of(p1,q1,p2,p1) * d_of(q2,q1,q2,q1) ) / ( d_of(p2,p1,p2,p1) * d_of(q2,q1,q2,q1) - d_of(q2,q1,p2,p1) * d_of(q2,q1,p2,p1) );
+ real_t mub = ( d_of(p1,q1,q2,q1) + mua * d_of(q2,q1,p2,p1) ) / d_of(q2,q1,q2,q1);
//clip the value between [0..1] constraining the solution to lie on the original curves
if (mua < 0) mua = 0;
@@ -125,7 +125,7 @@ public:
c2 = q1.linear_interpolate(q2,mub);
}
- static float get_closest_distance_between_segments( const Vector3& p_from_a,const Vector3& p_to_a, const Vector3& p_from_b,const Vector3& p_to_b) {
+ static real_t get_closest_distance_between_segments( const Vector3& p_from_a,const Vector3& p_to_a, const Vector3& p_from_b,const Vector3& p_to_b) {
Vector3 u = p_to_a - p_from_a;
Vector3 v = p_to_b - p_from_b;
Vector3 w = p_from_a - p_to_a;
@@ -273,22 +273,22 @@ public:
Vector3 sphere_pos=p_sphere_pos-p_from;
Vector3 rel=(p_to-p_from);
- float rel_l=rel.length();
+ real_t rel_l=rel.length();
if (rel_l<CMP_EPSILON)
return false; // both points are the same
Vector3 normal=rel/rel_l;
- float sphere_d=normal.dot(sphere_pos);
+ real_t sphere_d=normal.dot(sphere_pos);
//Vector3 ray_closest=normal*sphere_d;
- float ray_distance=sphere_pos.distance_to(normal*sphere_d);
+ real_t ray_distance=sphere_pos.distance_to(normal*sphere_d);
if (ray_distance>=p_sphere_radius)
return false;
- float inters_d2=p_sphere_radius*p_sphere_radius - ray_distance*ray_distance;
- float inters_d=sphere_d;
+ real_t inters_d2=p_sphere_radius*p_sphere_radius - ray_distance*ray_distance;
+ real_t inters_d=sphere_d;
if (inters_d2>=CMP_EPSILON)
inters_d-=Math::sqrt(inters_d2);
@@ -307,17 +307,17 @@ public:
return true;
}
- static inline bool segment_intersects_cylinder( const Vector3& p_from, const Vector3& p_to, float p_height,float p_radius,Vector3* r_res=0,Vector3 *r_norm=0) {
+ static inline bool segment_intersects_cylinder( const Vector3& p_from, const Vector3& p_to, real_t p_height,real_t p_radius,Vector3* r_res=0,Vector3 *r_norm=0) {
Vector3 rel=(p_to-p_from);
- float rel_l=rel.length();
+ real_t rel_l=rel.length();
if (rel_l<CMP_EPSILON)
return false; // both points are the same
// first check if they are parallel
Vector3 normal=(rel/rel_l);
Vector3 crs = normal.cross(Vector3(0,0,1));
- float crs_l=crs.length();
+ real_t crs_l=crs.length();
Vector3 z_dir;
@@ -328,13 +328,13 @@ public:
z_dir=crs/crs_l;
}
- float dist=z_dir.dot(p_from);
+ real_t dist=z_dir.dot(p_from);
if (dist>=p_radius)
return false; // too far away
// convert to 2D
- float w2=p_radius*p_radius-dist*dist;
+ real_t w2=p_radius*p_radius-dist*dist;
if (w2<CMP_EPSILON)
return false; //avoid numerical error
Size2 size(Math::sqrt(w2),p_height*0.5);
@@ -344,7 +344,7 @@ public:
Vector2 from2D(x_dir.dot(p_from),p_from.z);
Vector2 to2D(x_dir.dot(p_to),p_to.z);
- float min=0,max=1;
+ real_t min=0,max=1;
int axis=-1;
@@ -464,12 +464,12 @@ public:
Vector3 p=p_point-p_segment[0];
Vector3 n=p_segment[1]-p_segment[0];
- float l =n.length();
+ real_t l =n.length();
if (l<1e-10)
return p_segment[0]; // both points are the same, just give any
n/=l;
- float d=n.dot(p);
+ real_t d=n.dot(p);
if (d<=0.0)
return p_segment[0]; // before first point
@@ -483,12 +483,12 @@ public:
Vector3 p=p_point-p_segment[0];
Vector3 n=p_segment[1]-p_segment[0];
- float l =n.length();
+ real_t l =n.length();
if (l<1e-10)
return p_segment[0]; // both points are the same, just give any
n/=l;
- float d=n.dot(p);
+ real_t d=n.dot(p);
return p_segment[0]+n*d; // inside
}
@@ -497,12 +497,12 @@ public:
Vector2 p=p_point-p_segment[0];
Vector2 n=p_segment[1]-p_segment[0];
- float l =n.length();
+ real_t l =n.length();
if (l<1e-10)
return p_segment[0]; // both points are the same, just give any
n/=l;
- float d=n.dot(p);
+ real_t d=n.dot(p);
if (d<=0.0)
return p_segment[0]; // before first point
@@ -529,12 +529,12 @@ public:
Vector2 p=p_point-p_segment[0];
Vector2 n=p_segment[1]-p_segment[0];
- float l =n.length();
+ real_t l =n.length();
if (l<1e-10)
return p_segment[0]; // both points are the same, just give any
n/=l;
- float d=n.dot(p);
+ real_t d=n.dot(p);
return p_segment[0]+n*d; // inside
}
@@ -555,7 +555,7 @@ public:
if ((C.y<0 && D.y<0) || (C.y>=0 && D.y>=0))
return false;
- float ABpos=D.x+(C.x-D.x)*D.y/(D.y-C.y);
+ real_t ABpos=D.x+(C.x-D.x)*D.y/(D.y-C.y);
// Fail if segment C-D crosses line A-B outside of segment A-B.
if (ABpos<0 || ABpos>1.0)
@@ -595,7 +595,7 @@ public:
static inline bool triangle_sphere_intersection_test(const Vector3 *p_triangle,const Vector3& p_normal,const Vector3& p_sphere_pos, real_t p_sphere_radius,Vector3& r_triangle_contact,Vector3& r_sphere_contact) {
- float d=p_normal.dot(p_sphere_pos)-p_normal.dot(p_triangle[0]);
+ real_t d=p_normal.dot(p_sphere_pos)-p_normal.dot(p_triangle[0]);
if (d > p_sphere_radius || d < -p_sphere_radius) // not touching the plane of the face, return
return false;
@@ -629,7 +629,7 @@ public:
Vector3 axis =n1.cross(n2).cross(n1);
axis.normalize(); // ugh
- float ad=axis.dot(n2);
+ real_t ad=axis.dot(n2);
if (ABS(ad)>p_sphere_radius) {
// no chance with this edge, too far away
@@ -639,7 +639,7 @@ public:
// check point within edge capsule cylinder
/** 4th TEST INSIDE EDGE POINTS **/
- float sphere_at = n1.dot(n2);
+ real_t sphere_at = n1.dot(n2);
if (sphere_at>=0 && sphere_at<n1.dot(n1)) {
@@ -650,7 +650,7 @@ public:
return true;
}
- float r2=p_sphere_radius*p_sphere_radius;
+ real_t r2=p_sphere_radius*p_sphere_radius;
if (n2.length_squared()<r2) {
@@ -726,8 +726,8 @@ public:
int outside_count = 0;
for (int a = 0; a < polygon.size(); a++) {
- //float p_plane.d = (*this) * polygon[a];
- float dist = p_plane.distance_to(polygon[a]);
+ //real_t p_plane.d = (*this) * polygon[a];
+ real_t dist = p_plane.distance_to(polygon[a]);
if (dist <-CMP_POINT_IN_PLANE_EPSILON) {
location_cache[a] = LOC_INSIDE;
inside_count++;
@@ -761,8 +761,8 @@ public:
const Vector3& v2 = polygon[index];
Vector3 segment= v1 - v2;
- double den=p_plane.normal.dot( segment );
- double dist=p_plane.distance_to( v1 ) / den;
+ real_t den=p_plane.normal.dot( segment );
+ real_t dist=p_plane.distance_to( v1 ) / den;
dist=-dist;
clipped.push_back( v1 + segment * dist );
}
@@ -771,8 +771,8 @@ public:
if ((loc == LOC_INSIDE) && (location_cache[previous] == LOC_OUTSIDE)) {
const Vector3& v2 = polygon[previous];
Vector3 segment= v1 - v2;
- double den=p_plane.normal.dot( segment );
- double dist=p_plane.distance_to( v1 ) / den;
+ real_t den=p_plane.normal.dot( segment );
+ real_t dist=p_plane.distance_to( v1 ) / den;
dist=-dist;
clipped.push_back( v1 + segment * dist );
}
@@ -808,7 +808,7 @@ public:
static PoolVector< PoolVector< Face3 > > separate_objects( PoolVector< Face3 > p_array );
- static PoolVector< Face3 > wrap_geometry( PoolVector< Face3 > p_array, float *p_error=NULL ); ///< create a "wrap" that encloses the given geometry
+ static PoolVector< Face3 > wrap_geometry( PoolVector< Face3 > p_array, real_t *p_error=NULL ); ///< create a "wrap" that encloses the given geometry
struct MeshData {
@@ -884,9 +884,9 @@ public:
}
- static double vec2_cross(const Point2 &O, const Point2 &A, const Point2 &B)
+ static real_t vec2_cross(const Point2 &O, const Point2 &A, const Point2 &B)
{
- return (double)(A.x - O.x) * (B.y - O.y) - (double)(A.y - O.y) * (B.x - O.x);
+ return (real_t)(A.x - O.x) * (B.y - O.y) - (real_t)(A.y - O.y) * (B.x - O.x);
}
// Returns a list of points on the convex hull in counter-clockwise order.
@@ -918,10 +918,10 @@ public:
}
static MeshData build_convex_mesh(const PoolVector<Plane> &p_planes);
- static PoolVector<Plane> build_sphere_planes(float p_radius, int p_lats, int p_lons, Vector3::Axis p_axis=Vector3::AXIS_Z);
+ static PoolVector<Plane> build_sphere_planes(real_t p_radius, int p_lats, int p_lons, Vector3::Axis p_axis=Vector3::AXIS_Z);
static PoolVector<Plane> build_box_planes(const Vector3& p_extents);
- static PoolVector<Plane> build_cylinder_planes(float p_radius, float p_height, int p_sides, Vector3::Axis p_axis=Vector3::AXIS_Z);
- static PoolVector<Plane> build_capsule_planes(float p_radius, float p_height, int p_sides, int p_lats, Vector3::Axis p_axis=Vector3::AXIS_Z);
+ static PoolVector<Plane> build_cylinder_planes(real_t p_radius, real_t p_height, int p_sides, Vector3::Axis p_axis=Vector3::AXIS_Z);
+ static PoolVector<Plane> build_capsule_planes(real_t p_radius, real_t p_height, int p_sides, int p_lats, Vector3::Axis p_axis=Vector3::AXIS_Z);
static void make_atlas(const Vector<Size2i>& p_rects,Vector<Point2i>& r_result, Size2i& r_size);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-06 10:26:39 +0000