cf5428e103
This is consistent with the core Godot source code, and ensures the license isn't detached from its original code when individual files are distributed.
605 lines
16 KiB
C++
605 lines
16 KiB
C++
/*************************************************************************/
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/* AABB.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "AABB.hpp"
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#include "Plane.hpp"
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#include "Vector3.hpp"
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#include <algorithm>
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namespace godot {
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bool AABB::intersects(const AABB &p_aabb) const {
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if (position.x >= (p_aabb.position.x + p_aabb.size.x))
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return false;
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if ((position.x + size.x) <= p_aabb.position.x)
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return false;
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if (position.y >= (p_aabb.position.y + p_aabb.size.y))
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return false;
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if ((position.y + size.y) <= p_aabb.position.y)
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return false;
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if (position.z >= (p_aabb.position.z + p_aabb.size.z))
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return false;
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if ((position.z + size.z) <= p_aabb.position.z)
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return false;
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return true;
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}
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bool AABB::intersects_inclusive(const AABB &p_aabb) const {
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if (position.x > (p_aabb.position.x + p_aabb.size.x))
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return false;
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if ((position.x + size.x) < p_aabb.position.x)
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return false;
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if (position.y > (p_aabb.position.y + p_aabb.size.y))
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return false;
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if ((position.y + size.y) < p_aabb.position.y)
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return false;
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if (position.z > (p_aabb.position.z + p_aabb.size.z))
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return false;
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if ((position.z + size.z) < p_aabb.position.z)
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return false;
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return true;
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}
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bool AABB::encloses(const AABB &p_aabb) const {
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Vector3 src_min = position;
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Vector3 src_max = position + size;
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Vector3 dst_min = p_aabb.position;
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Vector3 dst_max = p_aabb.position + p_aabb.size;
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return (
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(src_min.x <= dst_min.x) &&
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(src_max.x > dst_max.x) &&
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(src_min.y <= dst_min.y) &&
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(src_max.y > dst_max.y) &&
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(src_min.z <= dst_min.z) &&
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(src_max.z > dst_max.z));
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}
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Vector3 AABB::get_support(const Vector3 &p_normal) const {
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Vector3 half_extents = size * 0.5;
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Vector3 ofs = position + half_extents;
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return Vector3(
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(p_normal.x > 0) ? -half_extents.x : half_extents.x,
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(p_normal.y > 0) ? -half_extents.y : half_extents.y,
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(p_normal.z > 0) ? -half_extents.z : half_extents.z) +
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ofs;
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}
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Vector3 AABB::get_endpoint(int p_point) const {
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switch (p_point) {
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case 0:
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return Vector3(position.x, position.y, position.z);
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case 1:
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return Vector3(position.x, position.y, position.z + size.z);
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case 2:
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return Vector3(position.x, position.y + size.y, position.z);
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case 3:
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return Vector3(position.x, position.y + size.y, position.z + size.z);
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case 4:
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return Vector3(position.x + size.x, position.y, position.z);
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case 5:
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return Vector3(position.x + size.x, position.y, position.z + size.z);
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case 6:
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return Vector3(position.x + size.x, position.y + size.y, position.z);
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case 7:
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return Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
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};
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ERR_FAIL_V(Vector3());
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}
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bool AABB::intersects_convex_shape(const Plane *p_planes, int p_plane_count) const {
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Vector3 half_extents = size * 0.5;
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Vector3 ofs = position + half_extents;
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for (int i = 0; i < p_plane_count; i++) {
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const Plane &p = p_planes[i];
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Vector3 point(
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(p.normal.x > 0) ? -half_extents.x : half_extents.x,
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(p.normal.y > 0) ? -half_extents.y : half_extents.y,
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(p.normal.z > 0) ? -half_extents.z : half_extents.z);
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point += ofs;
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if (p.is_point_over(point))
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return false;
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}
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return true;
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}
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bool AABB::has_point(const Vector3 &p_point) const {
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if (p_point.x < position.x)
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return false;
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if (p_point.y < position.y)
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return false;
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if (p_point.z < position.z)
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return false;
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if (p_point.x > position.x + size.x)
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return false;
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if (p_point.y > position.y + size.y)
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return false;
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if (p_point.z > position.z + size.z)
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return false;
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return true;
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}
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void AABB::expand_to(const Vector3 &p_vector) {
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Vector3 begin = position;
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Vector3 end = position + size;
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if (p_vector.x < begin.x)
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begin.x = p_vector.x;
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if (p_vector.y < begin.y)
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begin.y = p_vector.y;
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if (p_vector.z < begin.z)
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begin.z = p_vector.z;
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if (p_vector.x > end.x)
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end.x = p_vector.x;
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if (p_vector.y > end.y)
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end.y = p_vector.y;
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if (p_vector.z > end.z)
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end.z = p_vector.z;
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position = begin;
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size = end - begin;
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}
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void AABB::project_range_in_plane(const Plane &p_plane, real_t &r_min, real_t &r_max) const {
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Vector3 half_extents(size.x * 0.5, size.y * 0.5, size.z * 0.5);
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Vector3 center(position.x + half_extents.x, position.y + half_extents.y, position.z + half_extents.z);
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real_t length = p_plane.normal.abs().dot(half_extents);
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real_t distance = p_plane.distance_to(center);
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r_min = distance - length;
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r_max = distance + length;
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}
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real_t AABB::get_longest_axis_size() const {
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real_t max_size = size.x;
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if (size.y > max_size) {
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max_size = size.y;
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}
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if (size.z > max_size) {
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max_size = size.z;
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}
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return max_size;
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}
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real_t AABB::get_shortest_axis_size() const {
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real_t max_size = size.x;
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if (size.y < max_size) {
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max_size = size.y;
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}
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if (size.z < max_size) {
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max_size = size.z;
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}
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return max_size;
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}
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bool AABB::smits_intersect_ray(const Vector3 &from, const Vector3 &dir, real_t t0, real_t t1) const {
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real_t divx = 1.0 / dir.x;
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real_t divy = 1.0 / dir.y;
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real_t divz = 1.0 / dir.z;
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Vector3 upbound = position + size;
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real_t tmin, tmax, tymin, tymax, tzmin, tzmax;
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if (dir.x >= 0) {
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tmin = (position.x - from.x) * divx;
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tmax = (upbound.x - from.x) * divx;
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} else {
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tmin = (upbound.x - from.x) * divx;
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tmax = (position.x - from.x) * divx;
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}
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if (dir.y >= 0) {
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tymin = (position.y - from.y) * divy;
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tymax = (upbound.y - from.y) * divy;
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} else {
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tymin = (upbound.y - from.y) * divy;
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tymax = (position.y - from.y) * divy;
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}
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if ((tmin > tymax) || (tymin > tmax))
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return false;
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if (tymin > tmin)
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tmin = tymin;
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if (tymax < tmax)
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tmax = tymax;
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if (dir.z >= 0) {
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tzmin = (position.z - from.z) * divz;
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tzmax = (upbound.z - from.z) * divz;
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} else {
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tzmin = (upbound.z - from.z) * divz;
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tzmax = (position.z - from.z) * divz;
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}
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if ((tmin > tzmax) || (tzmin > tmax))
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return false;
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if (tzmin > tmin)
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tmin = tzmin;
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if (tzmax < tmax)
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tmax = tzmax;
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return ((tmin < t1) && (tmax > t0));
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}
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void AABB::grow_by(real_t p_amount) {
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position.x -= p_amount;
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position.y -= p_amount;
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position.z -= p_amount;
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size.x += 2.0 * p_amount;
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size.y += 2.0 * p_amount;
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size.z += 2.0 * p_amount;
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}
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real_t AABB::get_area() const {
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return size.x * size.y * size.z;
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}
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bool AABB::operator==(const AABB &p_rval) const {
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return ((position == p_rval.position) && (size == p_rval.size));
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}
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bool AABB::operator!=(const AABB &p_rval) const {
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return ((position != p_rval.position) || (size != p_rval.size));
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}
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void AABB::merge_with(const AABB &p_aabb) {
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Vector3 beg_1, beg_2;
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Vector3 end_1, end_2;
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Vector3 min, max;
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beg_1 = position;
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beg_2 = p_aabb.position;
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end_1 = Vector3(size.x, size.y, size.z) + beg_1;
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end_2 = Vector3(p_aabb.size.x, p_aabb.size.y, p_aabb.size.z) + beg_2;
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min.x = (beg_1.x < beg_2.x) ? beg_1.x : beg_2.x;
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min.y = (beg_1.y < beg_2.y) ? beg_1.y : beg_2.y;
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min.z = (beg_1.z < beg_2.z) ? beg_1.z : beg_2.z;
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max.x = (end_1.x > end_2.x) ? end_1.x : end_2.x;
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max.y = (end_1.y > end_2.y) ? end_1.y : end_2.y;
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max.z = (end_1.z > end_2.z) ? end_1.z : end_2.z;
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position = min;
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size = max - min;
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}
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AABB AABB::intersection(const AABB &p_aabb) const {
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Vector3 src_min = position;
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Vector3 src_max = position + size;
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Vector3 dst_min = p_aabb.position;
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Vector3 dst_max = p_aabb.position + p_aabb.size;
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Vector3 min, max;
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if (src_min.x > dst_max.x || src_max.x < dst_min.x)
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return AABB();
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else {
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min.x = (src_min.x > dst_min.x) ? src_min.x : dst_min.x;
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max.x = (src_max.x < dst_max.x) ? src_max.x : dst_max.x;
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}
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if (src_min.y > dst_max.y || src_max.y < dst_min.y)
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return AABB();
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else {
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min.y = (src_min.y > dst_min.y) ? src_min.y : dst_min.y;
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max.y = (src_max.y < dst_max.y) ? src_max.y : dst_max.y;
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}
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if (src_min.z > dst_max.z || src_max.z < dst_min.z)
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return AABB();
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else {
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min.z = (src_min.z > dst_min.z) ? src_min.z : dst_min.z;
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max.z = (src_max.z < dst_max.z) ? src_max.z : dst_max.z;
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}
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return AABB(min, max - min);
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}
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bool AABB::intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *r_clip, Vector3 *r_normal) const {
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Vector3 c1, c2;
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Vector3 end = position + size;
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real_t near = -1e20;
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real_t far = 1e20;
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int axis = 0;
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for (int i = 0; i < 3; i++) {
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if (p_dir[i] == 0) {
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if ((p_from[i] < position[i]) || (p_from[i] > end[i])) {
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return false;
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}
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} else { // ray not parallel to planes in this direction
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c1[i] = (position[i] - p_from[i]) / p_dir[i];
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c2[i] = (end[i] - p_from[i]) / p_dir[i];
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if (c1[i] > c2[i]) {
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std::swap(c1, c2);
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}
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if (c1[i] > near) {
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near = c1[i];
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axis = i;
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}
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if (c2[i] < far) {
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far = c2[i];
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}
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if ((near > far) || (far < 0)) {
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return false;
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}
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}
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}
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if (r_clip)
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*r_clip = c1;
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if (r_normal) {
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*r_normal = Vector3();
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(*r_normal)[axis] = p_dir[axis] ? -1 : 1;
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}
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return true;
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}
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bool AABB::intersects_segment(const Vector3 &p_from, const Vector3 &p_to, Vector3 *r_clip, Vector3 *r_normal) const {
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real_t min = 0, max = 1;
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int axis = 0;
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real_t sign = 0;
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for (int i = 0; i < 3; i++) {
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real_t seg_from = p_from[i];
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real_t seg_to = p_to[i];
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real_t box_begin = position[i];
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real_t box_end = box_begin + size[i];
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real_t cmin, cmax;
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real_t csign;
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if (seg_from < seg_to) {
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if (seg_from > box_end || seg_to < box_begin)
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return false;
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real_t length = seg_to - seg_from;
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cmin = (seg_from < box_begin) ? ((box_begin - seg_from) / length) : 0;
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cmax = (seg_to > box_end) ? ((box_end - seg_from) / length) : 1;
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csign = -1.0;
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} else {
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if (seg_to > box_end || seg_from < box_begin)
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return false;
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real_t length = seg_to - seg_from;
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cmin = (seg_from > box_end) ? (box_end - seg_from) / length : 0;
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cmax = (seg_to < box_begin) ? (box_begin - seg_from) / length : 1;
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csign = 1.0;
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}
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if (cmin > min) {
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min = cmin;
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axis = i;
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sign = csign;
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}
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if (cmax < max)
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max = cmax;
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if (max < min)
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return false;
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}
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Vector3 rel = p_to - p_from;
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if (r_normal) {
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Vector3 normal;
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normal[axis] = sign;
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*r_normal = normal;
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}
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if (r_clip)
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*r_clip = p_from + rel * min;
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return true;
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}
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bool AABB::intersects_plane(const Plane &p_plane) const {
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Vector3 points[8] = {
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Vector3(position.x, position.y, position.z),
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Vector3(position.x, position.y, position.z + size.z),
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Vector3(position.x, position.y + size.y, position.z),
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Vector3(position.x, position.y + size.y, position.z + size.z),
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Vector3(position.x + size.x, position.y, position.z),
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Vector3(position.x + size.x, position.y, position.z + size.z),
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Vector3(position.x + size.x, position.y + size.y, position.z),
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Vector3(position.x + size.x, position.y + size.y, position.z + size.z),
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};
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bool over = false;
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bool under = false;
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for (int i = 0; i < 8; i++) {
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if (p_plane.distance_to(points[i]) > 0)
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over = true;
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else
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under = true;
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}
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return under && over;
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}
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Vector3 AABB::get_longest_axis() const {
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Vector3 axis(1, 0, 0);
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real_t max_size = size.x;
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if (size.y > max_size) {
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axis = Vector3(0, 1, 0);
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max_size = size.y;
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}
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if (size.z > max_size) {
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axis = Vector3(0, 0, 1);
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max_size = size.z;
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}
|
|
|
|
return axis;
|
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}
|
|
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::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(position.x + size.x, position.y, position.z);
|
|
r_to = Vector3(position.x, position.y, position.z);
|
|
} break;
|
|
case 1: {
|
|
r_from = Vector3(position.x + size.x, position.y, position.z + size.z);
|
|
r_to = Vector3(position.x + size.x, position.y, position.z);
|
|
} break;
|
|
case 2: {
|
|
r_from = Vector3(position.x, position.y, position.z + size.z);
|
|
r_to = Vector3(position.x + size.x, position.y, position.z + size.z);
|
|
|
|
} break;
|
|
case 3: {
|
|
r_from = Vector3(position.x, position.y, position.z);
|
|
r_to = Vector3(position.x, position.y, position.z + size.z);
|
|
|
|
} break;
|
|
case 4: {
|
|
r_from = Vector3(position.x, position.y + size.y, position.z);
|
|
r_to = Vector3(position.x + size.x, position.y + size.y, position.z);
|
|
} break;
|
|
case 5: {
|
|
r_from = Vector3(position.x + size.x, position.y + size.y, position.z);
|
|
r_to = Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
|
|
} break;
|
|
case 6: {
|
|
r_from = Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
|
|
r_to = Vector3(position.x, position.y + size.y, position.z + size.z);
|
|
|
|
} break;
|
|
case 7: {
|
|
r_from = Vector3(position.x, position.y + size.y, position.z + size.z);
|
|
r_to = Vector3(position.x, position.y + size.y, position.z);
|
|
|
|
} break;
|
|
case 8: {
|
|
r_from = Vector3(position.x, position.y, position.z + size.z);
|
|
r_to = Vector3(position.x, position.y + size.y, position.z + size.z);
|
|
|
|
} break;
|
|
case 9: {
|
|
r_from = Vector3(position.x, position.y, position.z);
|
|
r_to = Vector3(position.x, position.y + size.y, position.z);
|
|
|
|
} break;
|
|
case 10: {
|
|
r_from = Vector3(position.x + size.x, position.y, position.z);
|
|
r_to = Vector3(position.x + size.x, position.y + size.y, position.z);
|
|
|
|
} break;
|
|
case 11: {
|
|
r_from = Vector3(position.x + size.x, position.y, position.z + size.z);
|
|
r_to = Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
|
|
|
|
} break;
|
|
}
|
|
}
|
|
|
|
AABB::operator String() const {
|
|
return String() + position + " - " + size;
|
|
}
|
|
|
|
} // namespace godot
|