/**************************************************************************/ /* face3.h */ /**************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /**************************************************************************/ /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ /* 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. */ /**************************************************************************/ #ifndef FACE3_H #define FACE3_H #include "core/math/aabb.h" #include "core/math/plane.h" #include "core/math/transform_3d.h" #include "core/math/vector3.h" struct _NO_DISCARD_ Face3 { enum Side { SIDE_OVER, SIDE_UNDER, SIDE_SPANNING, SIDE_COPLANAR }; Vector3 vertex[3]; /** * @param p_plane plane used to split the face * @param p_res array of at least 3 faces, amount used in function return * @param p_is_point_over array of at least 3 booleans, determining which face is over the plane, amount used in function return * @return amount of faces generated by the split, either 0 (means no split possible), 2 or 3 */ int split_by_plane(const Plane &p_plane, Face3 *p_res, bool *p_is_point_over) const; Plane get_plane(ClockDirection p_dir = CLOCKWISE) const; Vector3 get_random_point_inside() const; Side get_side_of(const Face3 &p_face, ClockDirection p_clock_dir = CLOCKWISE) const; bool is_degenerate() const; real_t get_area() const; Vector3 get_median_point() const; Vector3 get_closest_point_to(const Vector3 &p_point) const; bool intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *p_intersection = nullptr) const; bool intersects_segment(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *p_intersection = nullptr) const; ClockDirection get_clock_dir() const; ///< todo, test if this is returning the proper clockwisity void get_support(const Vector3 &p_normal, const Transform3D &p_transform, Vector3 *p_vertices, int *p_count, int p_max) const; void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const; AABB get_aabb() const { AABB aabb(vertex[0], Vector3()); aabb.expand_to(vertex[1]); aabb.expand_to(vertex[2]); return aabb; } bool intersects_aabb(const AABB &p_aabb) const; _FORCE_INLINE_ bool intersects_aabb2(const AABB &p_aabb) const; operator String() const; inline Face3() {} inline Face3(const Vector3 &p_v1, const Vector3 &p_v2, const Vector3 &p_v3) { vertex[0] = p_v1; vertex[1] = p_v2; vertex[2] = p_v3; } }; bool Face3::intersects_aabb2(const AABB &p_aabb) const { Vector3 perp = (vertex[0] - vertex[2]).cross(vertex[0] - vertex[1]); Vector3 half_extents = p_aabb.size * 0.5f; Vector3 ofs = p_aabb.position + half_extents; Vector3 sup = Vector3( (perp.x > 0) ? -half_extents.x : half_extents.x, (perp.y > 0) ? -half_extents.y : half_extents.y, (perp.z > 0) ? -half_extents.z : half_extents.z); real_t d = perp.dot(vertex[0]); real_t dist_a = perp.dot(ofs + sup) - d; real_t dist_b = perp.dot(ofs - sup) - d; if (dist_a * dist_b > 0) { return false; //does not intersect the plane } #define TEST_AXIS(m_ax) \ { \ real_t aabb_min = p_aabb.position.m_ax; \ real_t aabb_max = p_aabb.position.m_ax + p_aabb.size.m_ax; \ real_t tri_min, tri_max; \ for (int i = 0; i < 3; i++) { \ if (i == 0 || vertex[i].m_ax > tri_max) \ tri_max = vertex[i].m_ax; \ if (i == 0 || vertex[i].m_ax < tri_min) \ tri_min = vertex[i].m_ax; \ } \ \ if (tri_max < aabb_min || aabb_max < tri_min) \ return false; \ } TEST_AXIS(x); TEST_AXIS(y); TEST_AXIS(z); #undef TEST_AXIS const Vector3 edge_norms[3] = { vertex[0] - vertex[1], vertex[1] - vertex[2], vertex[2] - vertex[0], }; for (int i = 0; i < 12; i++) { Vector3 from, to; switch (i) { case 0: { from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z); to = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z); } break; case 1: { from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z); to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z); } break; case 2: { from = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z); to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z); } break; case 3: { from = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z); to = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z); } break; case 4: { from = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z); to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z); } break; case 5: { from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z); to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z); } break; case 6: { from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z); to = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z); } break; case 7: { from = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z); to = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z); } break; case 8: { from = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z); to = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z); } break; case 9: { from = Vector3(p_aabb.position.x, p_aabb.position.y, p_aabb.position.z); to = Vector3(p_aabb.position.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z); } break; case 10: { from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z); to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z); } break; case 11: { from = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y, p_aabb.position.z + p_aabb.size.z); to = Vector3(p_aabb.position.x + p_aabb.size.x, p_aabb.position.y + p_aabb.size.y, p_aabb.position.z + p_aabb.size.z); } break; } Vector3 e1 = from - to; for (int j = 0; j < 3; j++) { Vector3 e2 = edge_norms[j]; Vector3 axis = vec3_cross(e1, e2); if (axis.length_squared() < 0.0001f) { continue; // coplanar } //axis.normalize(); Vector3 sup2 = Vector3( (axis.x > 0) ? -half_extents.x : half_extents.x, (axis.y > 0) ? -half_extents.y : half_extents.y, (axis.z > 0) ? -half_extents.z : half_extents.z); real_t maxB = axis.dot(ofs + sup2); real_t minB = axis.dot(ofs - sup2); if (minB > maxB) { SWAP(maxB, minB); } real_t minT = 1e20, maxT = -1e20; for (int k = 0; k < 3; k++) { real_t vert_d = axis.dot(vertex[k]); if (vert_d > maxT) { maxT = vert_d; } if (vert_d < minT) { minT = vert_d; } } if (maxB < minT || maxT < minB) { return false; } } } return true; } #endif // FACE3_H