/*************************************************************************/ /* aabb.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* http://www.godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ /* */ /* 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. */ /*************************************************************************/ #include "aabb.h" #include "print_string.h" float AABB::get_area() const { return size.x*size.y*size.z; } bool AABB::operator==(const AABB& p_rval) const { return ((pos==p_rval.pos) && (size==p_rval.size)); } bool AABB::operator!=(const AABB& p_rval) const { return ((pos!=p_rval.pos) || (size!=p_rval.size)); } void AABB::merge_with(const AABB& p_aabb) { Vector3 beg_1,beg_2; Vector3 end_1,end_2; Vector3 min,max; beg_1=pos; beg_2=p_aabb.pos; end_1=Vector3(size.x,size.y,size.z)+beg_1; end_2=Vector3(p_aabb.size.x,p_aabb.size.y,p_aabb.size.z)+beg_2; min.x=(beg_1.xend_2.x)?end_1.x:end_2.x; max.y=(end_1.y>end_2.y)?end_1.y:end_2.y; max.z=(end_1.z>end_2.z)?end_1.z:end_2.z; pos=min; size=max-min; } AABB AABB::intersection(const AABB& 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 min,max; if (src_min.x > dst_max.x || src_max.x < dst_min.x ) return AABB(); else { min.x= ( src_min.x > dst_min.x ) ? src_min.x :dst_min.x; max.x= ( src_max.x < dst_max.x ) ? src_max.x :dst_max.x; } if (src_min.y > dst_max.y || src_max.y < dst_min.y ) return AABB(); else { min.y= ( src_min.y > dst_min.y ) ? src_min.y :dst_min.y; max.y= ( src_max.y < dst_max.y ) ? src_max.y :dst_max.y; } if (src_min.z > dst_max.z || src_max.z < dst_min.z ) return AABB(); else { min.z= ( src_min.z > dst_min.z ) ? src_min.z :dst_min.z; max.z= ( src_max.z < dst_max.z ) ? src_max.z :dst_max.z; } return AABB( min, max-min ); } bool AABB::intersects_ray(const Vector3& p_from, const Vector3& p_dir,Vector3* r_clip,Vector3* r_normal) const { Vector3 c1, c2; Vector3 end = pos+size; float near=-1e20; float far=1e20; int axis=0; for (int i=0;i<3;i++){ if (p_dir[i] == 0){ if ((p_from[i] < pos[i]) || (p_from[i] > end[i])) { return false; } } else { // ray not parallel to planes in this direction c1[i] = (pos[i] - p_from[i]) / p_dir[i]; c2[i] = (end[i] - p_from[i]) / p_dir[i]; if(c1[i] > c2[i]){ SWAP(c1,c2); } if (c1[i] > near){ near = c1[i]; axis=i; } if (c2[i] < far){ far = c2[i]; } if( (near > far) || (far < 0) ){ return false; } } } if (r_clip) *r_clip=c1; if (r_normal) { *r_normal=Vector3(); (*r_normal)[axis]=p_dir[axis]?-1:1; } return true; } bool AABB::intersects_segment(const Vector3& p_from, const Vector3& p_to,Vector3* r_clip,Vector3* r_normal) const { real_t min=0,max=1; int axis=0; float sign=0; for(int i=0;i<3;i++) { real_t seg_from=p_from[i]; real_t seg_to=p_to[i]; real_t box_begin=pos[i]; real_t box_end=box_begin+size[i]; real_t cmin,cmax; float csign; if (seg_from < seg_to) { if (seg_from > box_end || seg_to < box_begin) return false; real_t length=seg_to-seg_from; cmin = (seg_from < box_begin)?((box_begin - seg_from)/length):0; cmax = (seg_to > box_end)?((box_end - seg_from)/length):1; csign=-1.0; } else { if (seg_to > box_end || seg_from < box_begin) return false; real_t length=seg_to-seg_from; cmin = (seg_from > box_end)?(box_end - seg_from)/length:0; cmax = (seg_to < box_begin)?(box_begin - seg_from)/length:1; csign=1.0; } if (cmin > min) { min = cmin; axis=i; sign=csign; } if (cmax < max) max = cmax; if (max < min) return false; } Vector3 rel=p_to-p_from; if (r_normal) { Vector3 normal; normal[axis]=sign; *r_normal=normal; } if (r_clip) *r_clip=p_from+rel*min; return true; } bool AABB::intersects_plane(const Plane &p_plane) const { 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 ), }; bool over=false; bool under=false; for (int i=0;i<8;i++) { if (p_plane.distance_to(points[i])>0) over=true; else under=true; } return under && over; } Vector3 AABB::get_longest_axis() const { Vector3 axis(1,0,0); real_t max_size=size.x; if (size.y > max_size ) { axis=Vector3(0,1,0); max_size=size.y; } if (size.z > max_size ) { axis=Vector3(0,0,1); max_size=size.z; } return axis; } int AABB::get_longest_axis_index() const { int axis=0; real_t max_size=size.x; if (size.y > max_size ) { axis=1; max_size=size.y; } if (size.z > max_size ) { axis=2; max_size=size.z; } return axis; } Vector3 AABB::get_shortest_axis() const { Vector3 axis(1,0,0); real_t max_size=size.x; if (size.y < max_size ) { axis=Vector3(0,1,0); max_size=size.y; } if (size.z < max_size ) { axis=Vector3(0,0,1); max_size=size.z; } return axis; } int AABB::get_shortest_axis_index() const { int axis=0; real_t max_size=size.x; if (size.y < max_size ) { axis=1; max_size=size.y; } if (size.z < max_size ) { axis=2; max_size=size.z; } return axis; } AABB AABB::merge(const AABB& p_with) const { AABB aabb=*this; aabb.merge_with(p_with); return aabb; } AABB AABB::expand(const Vector3& p_vector) const { AABB aabb=*this; aabb.expand_to(p_vector); return aabb; } AABB AABB::grow(real_t p_by) const { AABB aabb=*this; aabb.grow_by(p_by); return aabb; } void AABB::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; } void AABB::get_edge(int p_edge,Vector3& r_from,Vector3& r_to) const { ERR_FAIL_INDEX(p_edge,12); switch(p_edge) { case 0:{ r_from=Vector3( pos.x+size.x , pos.y , pos.z ); r_to=Vector3( pos.x , pos.y , pos.z ); } break; case 1:{ r_from=Vector3( pos.x+size.x , pos.y , pos.z+size.z ); r_to=Vector3( pos.x+size.x , pos.y , pos.z ); } break; case 2:{ r_from=Vector3( pos.x , pos.y , pos.z+size.z ); r_to=Vector3( pos.x+size.x , pos.y , pos.z+size.z ); } break; case 3:{ r_from=Vector3( pos.x , pos.y , pos.z ); r_to=Vector3( pos.x , pos.y , pos.z+size.z ); } break; case 4:{ r_from=Vector3( pos.x , pos.y+size.y , pos.z ); r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z ); } break; case 5:{ r_from=Vector3( pos.x+size.x , pos.y+size.y , pos.z ); r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z ); } break; case 6:{ r_from=Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z ); r_to=Vector3( pos.x , pos.y+size.y , pos.z+size.z ); } break; case 7:{ r_from=Vector3( pos.x , pos.y+size.y , pos.z+size.z ); r_to=Vector3( pos.x , pos.y+size.y , pos.z ); } break; case 8:{ r_from=Vector3( pos.x , pos.y , pos.z+size.z ); r_to=Vector3( pos.x , pos.y+size.y , pos.z+size.z ); } break; case 9:{ r_from=Vector3( pos.x , pos.y , pos.z ); r_to=Vector3( pos.x , pos.y+size.y , pos.z ); } break; case 10:{ r_from=Vector3( pos.x+size.x , pos.y , pos.z ); r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z ); } break; case 11:{ r_from=Vector3( pos.x+size.x , pos.y , pos.z+size.z ); r_to=Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z ); } break; } } AABB::operator String() const { return String()+pos +" - "+ size; }