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-rw-r--r--core/math/rect3.h333
1 files changed, 159 insertions, 174 deletions
diff --git a/core/math/rect3.h b/core/math/rect3.h
index 902592b02c..26198537c2 100644
--- a/core/math/rect3.h
+++ b/core/math/rect3.h
@@ -29,19 +29,15 @@
#ifndef AABB_H
#define AABB_H
-
-
-#include "vector3.h"
-#include "plane.h"
#include "math_defs.h"
+#include "plane.h"
+#include "vector3.h"
/**
* AABB / AABB (Axis Aligned Bounding Box)
* This is implemented by a point (pos) and the box size
*/
-
-
class Rect3 {
public:
Vector3 pos;
@@ -50,40 +46,38 @@ public:
real_t get_area() const; /// get area
_FORCE_INLINE_ bool has_no_area() const {
- return (size.x<=CMP_EPSILON || size.y<=CMP_EPSILON || size.z<=CMP_EPSILON);
+ return (size.x <= CMP_EPSILON || size.y <= CMP_EPSILON || size.z <= CMP_EPSILON);
}
_FORCE_INLINE_ bool has_no_surface() const {
- return (size.x<=CMP_EPSILON && size.y<=CMP_EPSILON && size.z<=CMP_EPSILON);
+ return (size.x <= CMP_EPSILON && size.y <= CMP_EPSILON && size.z <= CMP_EPSILON);
}
- const Vector3& get_pos() const { return pos; }
- void set_pos(const Vector3& p_pos) { pos=p_pos; }
- const Vector3& get_size() const { return size; }
- void set_size(const Vector3& p_size) { size=p_size; }
+ const Vector3 &get_pos() const { return pos; }
+ void set_pos(const Vector3 &p_pos) { pos = p_pos; }
+ const Vector3 &get_size() const { return size; }
+ void set_size(const Vector3 &p_size) { size = p_size; }
+ bool operator==(const Rect3 &p_rval) const;
+ bool operator!=(const Rect3 &p_rval) const;
- bool operator==(const Rect3& p_rval) const;
- bool operator!=(const Rect3& p_rval) const;
+ _FORCE_INLINE_ bool intersects(const Rect3 &p_aabb) const; /// Both AABBs overlap
+ _FORCE_INLINE_ bool intersects_inclusive(const Rect3 &p_aabb) const; /// Both AABBs (or their faces) overlap
+ _FORCE_INLINE_ bool encloses(const Rect3 &p_aabb) const; /// p_aabb is completely inside this
- _FORCE_INLINE_ bool intersects(const Rect3& p_aabb) const; /// Both AABBs overlap
- _FORCE_INLINE_ bool intersects_inclusive(const Rect3& p_aabb) const; /// Both AABBs (or their faces) overlap
- _FORCE_INLINE_ bool encloses(const Rect3 & p_aabb) const; /// p_aabb is completely inside this
-
- Rect3 merge(const Rect3& p_with) const;
- void merge_with(const Rect3& p_aabb); ///merge with another AABB
- Rect3 intersection(const Rect3& 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 &from,const Vector3& p_dir, real_t t0, real_t t1) const;
+ Rect3 merge(const Rect3 &p_with) const;
+ void merge_with(const Rect3 &p_aabb); ///merge with another AABB
+ Rect3 intersection(const Rect3 &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 &from, const Vector3 &p_dir, real_t t0, real_t t1) const;
_FORCE_INLINE_ bool intersects_convex_shape(const Plane *p_plane, 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;
-
+ _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;
@@ -96,98 +90,97 @@ public:
Rect3 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;
+ void get_edge(int p_edge, Vector3 &r_from, Vector3 &r_to) const;
_FORCE_INLINE_ Vector3 get_endpoint(int p_point) const;
- Rect3 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 necesary */
+ Rect3 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 necesary */
operator String() const;
_FORCE_INLINE_ Rect3() {}
- inline Rect3(const Vector3 &p_pos,const Vector3& p_size) { pos=p_pos; size=p_size; }
+ inline Rect3(const Vector3 &p_pos, const Vector3 &p_size) {
+ pos = p_pos;
+ size = p_size;
+ }
+};
+inline bool Rect3::intersects(const Rect3 &p_aabb) const {
-};
+ if (pos.x >= (p_aabb.pos.x + p_aabb.size.x))
+ return false;
+ if ((pos.x + size.x) <= p_aabb.pos.x)
+ return false;
+ if (pos.y >= (p_aabb.pos.y + p_aabb.size.y))
+ return false;
+ if ((pos.y + size.y) <= p_aabb.pos.y)
+ return false;
+ if (pos.z >= (p_aabb.pos.z + p_aabb.size.z))
+ return false;
+ if ((pos.z + size.z) <= p_aabb.pos.z)
+ return false;
-inline bool Rect3::intersects(const Rect3& p_aabb) const {
-
- if ( pos.x >= (p_aabb.pos.x + p_aabb.size.x) )
- return false;
- if ( (pos.x+size.x) <= p_aabb.pos.x )
- return false;
- if ( pos.y >= (p_aabb.pos.y + p_aabb.size.y) )
- return false;
- if ( (pos.y+size.y) <= p_aabb.pos.y )
- return false;
- if ( pos.z >= (p_aabb.pos.z + p_aabb.size.z) )
- return false;
- if ( (pos.z+size.z) <= p_aabb.pos.z )
- return false;
-
- return true;
+ return true;
}
-inline bool Rect3::intersects_inclusive(const Rect3& p_aabb) const {
-
- if ( pos.x > (p_aabb.pos.x + p_aabb.size.x) )
- return false;
- if ( (pos.x+size.x) < p_aabb.pos.x )
- return false;
- if ( pos.y > (p_aabb.pos.y + p_aabb.size.y) )
- return false;
- if ( (pos.y+size.y) < p_aabb.pos.y )
- return false;
- if ( pos.z > (p_aabb.pos.z + p_aabb.size.z) )
- return false;
- if ( (pos.z+size.z) < p_aabb.pos.z )
- return false;
-
- return true;
+inline bool Rect3::intersects_inclusive(const Rect3 &p_aabb) const {
+
+ if (pos.x > (p_aabb.pos.x + p_aabb.size.x))
+ return false;
+ if ((pos.x + size.x) < p_aabb.pos.x)
+ return false;
+ if (pos.y > (p_aabb.pos.y + p_aabb.size.y))
+ return false;
+ if ((pos.y + size.y) < p_aabb.pos.y)
+ return false;
+ if (pos.z > (p_aabb.pos.z + p_aabb.size.z))
+ return false;
+ if ((pos.z + size.z) < p_aabb.pos.z)
+ return false;
+
+ return true;
}
-inline bool Rect3::encloses(const Rect3 & p_aabb) const {
+inline bool Rect3::encloses(const Rect3 &p_aabb) const {
- Vector3 src_min=pos;
- Vector3 src_max=pos+size;
- Vector3 dst_min=p_aabb.pos;
- Vector3 dst_max=p_aabb.pos+p_aabb.size;
+ Vector3 src_min = pos;
+ Vector3 src_max = pos + size;
+ Vector3 dst_min = p_aabb.pos;
+ Vector3 dst_max = p_aabb.pos + p_aabb.size;
- return (
- (src_min.x <= dst_min.x) &&
+ 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) );
-
+ (src_max.z > dst_max.z));
}
-Vector3 Rect3::get_support(const Vector3& p_normal) const {
+Vector3 Rect3::get_support(const Vector3 &p_normal) const {
Vector3 half_extents = size * 0.5;
Vector3 ofs = pos + 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;
+ (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 Rect3::get_endpoint(int p_point) const {
- switch(p_point) {
- case 0: return Vector3( pos.x , pos.y , pos.z );
- case 1: return Vector3( pos.x , pos.y , pos.z+size.z );
- case 2: return Vector3( pos.x , pos.y+size.y , pos.z );
- case 3: return Vector3( pos.x , pos.y+size.y , pos.z+size.z );
- case 4: return Vector3( pos.x+size.x , pos.y , pos.z );
- case 5: return Vector3( pos.x+size.x , pos.y , pos.z+size.z );
- case 6: return Vector3( pos.x+size.x , pos.y+size.y , pos.z );
- case 7: return Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z );
+ switch (p_point) {
+ case 0: return Vector3(pos.x, pos.y, pos.z);
+ case 1: return Vector3(pos.x, pos.y, pos.z + size.z);
+ case 2: return Vector3(pos.x, pos.y + size.y, pos.z);
+ case 3: return Vector3(pos.x, pos.y + size.y, pos.z + size.z);
+ case 4: return Vector3(pos.x + size.x, pos.y, pos.z);
+ case 5: return Vector3(pos.x + size.x, pos.y, pos.z + size.z);
+ case 6: return Vector3(pos.x + size.x, pos.y + size.y, pos.z);
+ case 7: return Vector3(pos.x + size.x, pos.y + size.y, pos.z + size.z);
};
ERR_FAIL_V(Vector3());
@@ -200,14 +193,13 @@ bool Rect3::intersects_convex_shape(const Plane *p_planes, int p_plane_count) co
Vector3 half_extents = size * 0.5;
Vector3 ofs = pos + half_extents;
- for(int i=0;i<p_plane_count;i++) {
- const Plane &p=p_planes[i];
+ 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;
+ (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;
}
@@ -215,33 +207,31 @@ bool Rect3::intersects_convex_shape(const Plane *p_planes, int p_plane_count) co
return true;
#else
//cache all points to check against!
-// #warning should be easy to optimize, just use the same as when taking the support and use only that point
+ // #warning should be easy to optimize, just use the same as when taking the support and use only that point
Vector3 points[8] = {
- Vector3( pos.x , pos.y , pos.z ),
- Vector3( pos.x , pos.y , pos.z+size.z ),
- Vector3( pos.x , pos.y+size.y , pos.z ),
- Vector3( pos.x , pos.y+size.y , pos.z+size.z ),
- Vector3( pos.x+size.x , pos.y , pos.z ),
- Vector3( pos.x+size.x , pos.y , pos.z+size.z ),
- Vector3( pos.x+size.x , pos.y+size.y , pos.z ),
- Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z ),
+ Vector3(pos.x, pos.y, pos.z),
+ Vector3(pos.x, pos.y, pos.z + size.z),
+ Vector3(pos.x, pos.y + size.y, pos.z),
+ Vector3(pos.x, pos.y + size.y, pos.z + size.z),
+ Vector3(pos.x + size.x, pos.y, pos.z),
+ Vector3(pos.x + size.x, pos.y, pos.z + size.z),
+ Vector3(pos.x + size.x, pos.y + size.y, pos.z),
+ Vector3(pos.x + size.x, pos.y + size.y, pos.z + size.z),
};
- for (int i=0;i<p_plane_count;i++) { //for each plane
+ for (int i = 0; i < p_plane_count; i++) { //for each plane
- const Plane & plane=p_planes[i];
- bool all_points_over=true;
+ const Plane &plane = p_planes[i];
+ bool all_points_over = true;
//test if it has all points over!
- for (int j=0;j<8;j++) {
-
+ for (int j = 0; j < 8; j++) {
- if (!plane.is_point_over( points[j] )) {
+ if (!plane.is_point_over(points[j])) {
- all_points_over=false;
+ all_points_over = false;
break;
}
-
}
if (all_points_over) {
@@ -253,69 +243,68 @@ bool Rect3::intersects_convex_shape(const Plane *p_planes, int p_plane_count) co
#endif
}
-bool Rect3::has_point(const Vector3& p_point) const {
+bool Rect3::has_point(const Vector3 &p_point) const {
- if (p_point.x<pos.x)
+ if (p_point.x < pos.x)
return false;
- if (p_point.y<pos.y)
+ if (p_point.y < pos.y)
return false;
- if (p_point.z<pos.z)
+ if (p_point.z < pos.z)
return false;
- if (p_point.x>pos.x+size.x)
+ if (p_point.x > pos.x + size.x)
return false;
- if (p_point.y>pos.y+size.y)
+ if (p_point.y > pos.y + size.y)
return false;
- if (p_point.z>pos.z+size.z)
+ if (p_point.z > pos.z + size.z)
return false;
return true;
}
+inline void Rect3::expand_to(const Vector3 &p_vector) {
-inline void Rect3::expand_to(const Vector3& p_vector) {
-
- Vector3 begin=pos;
- Vector3 end=pos+size;
+ Vector3 begin = pos;
+ Vector3 end = pos + 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 < 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;
+ 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;
- pos=begin;
- size=end-begin;
+ pos = begin;
+ size = end - begin;
}
-void Rect3::project_range_in_plane(const Plane& p_plane,real_t &r_min,real_t& r_max) const {
+void Rect3::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( pos.x + half_extents.x, pos.y + half_extents.y, pos.z + half_extents.z );
+ Vector3 half_extents(size.x * 0.5, size.y * 0.5, size.z * 0.5);
+ Vector3 center(pos.x + half_extents.x, pos.y + half_extents.y, pos.z + half_extents.z);
real_t length = p_plane.normal.abs().dot(half_extents);
- real_t distance = p_plane.distance_to( center );
+ real_t distance = p_plane.distance_to(center);
r_min = distance - length;
r_max = distance + length;
}
inline real_t Rect3::get_longest_axis_size() const {
- real_t max_size=size.x;
+ real_t max_size = size.x;
- if (size.y > max_size ) {
- max_size=size.y;
+ if (size.y > max_size) {
+ max_size = size.y;
}
- if (size.z > max_size ) {
- max_size=size.z;
+ if (size.z > max_size) {
+ max_size = size.z;
}
return max_size;
@@ -323,75 +312,71 @@ inline real_t Rect3::get_longest_axis_size() const {
inline real_t Rect3::get_shortest_axis_size() const {
- real_t max_size=size.x;
+ real_t max_size = size.x;
- if (size.y < max_size ) {
- max_size=size.y;
+ if (size.y < max_size) {
+ max_size = size.y;
}
- if (size.z < max_size ) {
- max_size=size.z;
+ if (size.z < max_size) {
+ max_size = size.z;
}
return max_size;
}
-bool Rect3::smits_intersect_ray(const Vector3 &from,const Vector3& dir, real_t t0, real_t t1) const {
+bool Rect3::smits_intersect_ray(const Vector3 &from, const Vector3 &dir, real_t t0, real_t t1) const {
- real_t divx=1.0/dir.x;
- real_t divy=1.0/dir.y;
- real_t divz=1.0/dir.z;
+ real_t divx = 1.0 / dir.x;
+ real_t divy = 1.0 / dir.y;
+ real_t divz = 1.0 / dir.z;
- Vector3 upbound=pos+size;
+ Vector3 upbound = pos + size;
real_t tmin, tmax, tymin, tymax, tzmin, tzmax;
if (dir.x >= 0) {
tmin = (pos.x - from.x) * divx;
tmax = (upbound.x - from.x) * divx;
- }
- else {
+ } else {
tmin = (upbound.x - from.x) * divx;
tmax = (pos.x - from.x) * divx;
}
if (dir.y >= 0) {
tymin = (pos.y - from.y) * divy;
tymax = (upbound.y - from.y) * divy;
- }
- else {
+ } else {
tymin = (upbound.y - from.y) * divy;
tymax = (pos.y - from.y) * divy;
}
- if ( (tmin > tymax) || (tymin > tmax) )
+ if ((tmin > tymax) || (tymin > tmax))
return false;
if (tymin > tmin)
- tmin = tymin;
+ tmin = tymin;
if (tymax < tmax)
tmax = tymax;
if (dir.z >= 0) {
tzmin = (pos.z - from.z) * divz;
tzmax = (upbound.z - from.z) * divz;
- }
- else {
+ } else {
tzmin = (upbound.z - from.z) * divz;
tzmax = (pos.z - from.z) * divz;
}
- if ( (tmin > tzmax) || (tzmin > tmax) )
+ if ((tmin > tzmax) || (tzmin > tmax))
return false;
if (tzmin > tmin)
tmin = tzmin;
if (tzmax < tmax)
tmax = tzmax;
- return ( (tmin < t1) && (tmax > t0) );
+ return ((tmin < t1) && (tmax > t0));
}
void Rect3::grow_by(real_t p_amount) {
- pos.x-=p_amount;
- pos.y-=p_amount;
- pos.z-=p_amount;
- size.x+=2.0*p_amount;
- size.y+=2.0*p_amount;
- size.z+=2.0*p_amount;
+ pos.x -= p_amount;
+ pos.y -= p_amount;
+ pos.z -= p_amount;
+ size.x += 2.0 * p_amount;
+ size.y += 2.0 * p_amount;
+ size.z += 2.0 * p_amount;
}
-
#endif // AABB_H
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