524 lines
16 KiB
C
524 lines
16 KiB
C
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// Following code from Magic-Software (http://www.magic-software.com/)
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// A bit modified for Opcode
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inline_ float OPC_PointAABBSqrDist(const Point& point, const Point& center, const Point& extents)
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{
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// Compute coordinates of point in box coordinate system
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Point Closest = point - center;
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float SqrDistance = 0.0f;
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if(Closest.x < -extents.x)
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{
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float Delta = Closest.x + extents.x;
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SqrDistance += Delta*Delta;
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}
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else if(Closest.x > extents.x)
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{
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float Delta = Closest.x - extents.x;
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SqrDistance += Delta*Delta;
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}
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if(Closest.y < -extents.y)
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{
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float Delta = Closest.y + extents.y;
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SqrDistance += Delta*Delta;
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}
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else if(Closest.y > extents.y)
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{
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float Delta = Closest.y - extents.y;
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SqrDistance += Delta*Delta;
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}
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if(Closest.z < -extents.z)
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{
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float Delta = Closest.z + extents.z;
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SqrDistance += Delta*Delta;
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}
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else if(Closest.z > extents.z)
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{
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float Delta = Closest.z - extents.z;
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SqrDistance += Delta*Delta;
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}
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return SqrDistance;
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}
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static void Face(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, const Point& rkPmE, float* pfLParam, float& rfSqrDistance)
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{
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Point kPpE;
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float fLSqr, fInv, fTmp, fParam, fT, fDelta;
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kPpE[i1] = rkPnt[i1] + extents[i1];
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kPpE[i2] = rkPnt[i2] + extents[i2];
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if(rkDir[i0]*kPpE[i1] >= rkDir[i1]*rkPmE[i0])
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{
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if(rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0])
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{
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// v[i1] >= -e[i1], v[i2] >= -e[i2] (distance = 0)
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if(pfLParam)
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{
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rkPnt[i0] = extents[i0];
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fInv = 1.0f/rkDir[i0];
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rkPnt[i1] -= rkDir[i1]*rkPmE[i0]*fInv;
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rkPnt[i2] -= rkDir[i2]*rkPmE[i0]*fInv;
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*pfLParam = -rkPmE[i0]*fInv;
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}
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}
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else
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{
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// v[i1] >= -e[i1], v[i2] < -e[i2]
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fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i2]*rkDir[i2];
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fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]);
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if(fTmp <= 2.0f*fLSqr*extents[i1])
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{
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fT = fTmp/fLSqr;
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fLSqr += rkDir[i1]*rkDir[i1];
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fTmp = kPpE[i1] - fT;
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fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2];
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fParam = -fDelta/fLSqr;
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rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam;
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if(pfLParam)
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{
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*pfLParam = fParam;
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rkPnt[i0] = extents[i0];
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rkPnt[i1] = fT - extents[i1];
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rkPnt[i2] = -extents[i2];
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}
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}
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else
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{
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fLSqr += rkDir[i1]*rkDir[i1];
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fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2];
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fParam = -fDelta/fLSqr;
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rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
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if(pfLParam)
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{
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*pfLParam = fParam;
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rkPnt[i0] = extents[i0];
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rkPnt[i1] = extents[i1];
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rkPnt[i2] = -extents[i2];
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}
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}
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}
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}
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else
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{
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if ( rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0] )
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{
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// v[i1] < -e[i1], v[i2] >= -e[i2]
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fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1];
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fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]);
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if(fTmp <= 2.0f*fLSqr*extents[i2])
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{
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fT = fTmp/fLSqr;
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fLSqr += rkDir[i2]*rkDir[i2];
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fTmp = kPpE[i2] - fT;
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fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp;
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fParam = -fDelta/fLSqr;
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rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam;
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if(pfLParam)
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{
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*pfLParam = fParam;
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rkPnt[i0] = extents[i0];
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rkPnt[i1] = -extents[i1];
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rkPnt[i2] = fT - extents[i2];
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}
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}
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else
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{
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fLSqr += rkDir[i2]*rkDir[i2];
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fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2];
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fParam = -fDelta/fLSqr;
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rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam;
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if(pfLParam)
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{
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*pfLParam = fParam;
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rkPnt[i0] = extents[i0];
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rkPnt[i1] = -extents[i1];
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rkPnt[i2] = extents[i2];
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}
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}
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}
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else
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{
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// v[i1] < -e[i1], v[i2] < -e[i2]
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fLSqr = rkDir[i0]*rkDir[i0]+rkDir[i2]*rkDir[i2];
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fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]);
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if(fTmp >= 0.0f)
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{
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// v[i1]-edge is closest
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if ( fTmp <= 2.0f*fLSqr*extents[i1] )
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{
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fT = fTmp/fLSqr;
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fLSqr += rkDir[i1]*rkDir[i1];
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fTmp = kPpE[i1] - fT;
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fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2];
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fParam = -fDelta/fLSqr;
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rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam;
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if(pfLParam)
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{
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*pfLParam = fParam;
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rkPnt[i0] = extents[i0];
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rkPnt[i1] = fT - extents[i1];
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rkPnt[i2] = -extents[i2];
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}
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}
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else
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{
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fLSqr += rkDir[i1]*rkDir[i1];
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fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2];
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fParam = -fDelta/fLSqr;
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rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
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if(pfLParam)
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{
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*pfLParam = fParam;
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rkPnt[i0] = extents[i0];
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rkPnt[i1] = extents[i1];
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rkPnt[i2] = -extents[i2];
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}
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}
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return;
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}
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fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1];
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fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]);
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if(fTmp >= 0.0f)
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{
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// v[i2]-edge is closest
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if(fTmp <= 2.0f*fLSqr*extents[i2])
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{
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fT = fTmp/fLSqr;
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fLSqr += rkDir[i2]*rkDir[i2];
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fTmp = kPpE[i2] - fT;
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fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp;
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fParam = -fDelta/fLSqr;
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rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam;
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if(pfLParam)
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{
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*pfLParam = fParam;
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rkPnt[i0] = extents[i0];
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rkPnt[i1] = -extents[i1];
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rkPnt[i2] = fT - extents[i2];
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}
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}
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else
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{
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fLSqr += rkDir[i2]*rkDir[i2];
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fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2];
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fParam = -fDelta/fLSqr;
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rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam;
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if(pfLParam)
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{
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*pfLParam = fParam;
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rkPnt[i0] = extents[i0];
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rkPnt[i1] = -extents[i1];
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rkPnt[i2] = extents[i2];
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}
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}
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return;
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}
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// (v[i1],v[i2])-corner is closest
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fLSqr += rkDir[i2]*rkDir[i2];
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fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*kPpE[i2];
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fParam = -fDelta/fLSqr;
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rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
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if(pfLParam)
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{
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*pfLParam = fParam;
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rkPnt[i0] = extents[i0];
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rkPnt[i1] = -extents[i1];
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rkPnt[i2] = -extents[i2];
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}
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}
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}
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}
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static void CaseNoZeros(Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance)
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{
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Point kPmE(rkPnt.x - extents.x, rkPnt.y - extents.y, rkPnt.z - extents.z);
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float fProdDxPy, fProdDyPx, fProdDzPx, fProdDxPz, fProdDzPy, fProdDyPz;
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fProdDxPy = rkDir.x*kPmE.y;
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fProdDyPx = rkDir.y*kPmE.x;
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if(fProdDyPx >= fProdDxPy)
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{
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fProdDzPx = rkDir.z*kPmE.x;
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fProdDxPz = rkDir.x*kPmE.z;
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if(fProdDzPx >= fProdDxPz)
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{
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// line intersects x = e0
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Face(0, 1, 2, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
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}
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else
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{
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// line intersects z = e2
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Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
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}
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}
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else
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{
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fProdDzPy = rkDir.z*kPmE.y;
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fProdDyPz = rkDir.y*kPmE.z;
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if(fProdDzPy >= fProdDyPz)
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{
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// line intersects y = e1
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Face(1, 2, 0, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
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}
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else
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{
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// line intersects z = e2
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Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
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}
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}
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}
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static void Case0(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance)
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{
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float fPmE0 = rkPnt[i0] - extents[i0];
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float fPmE1 = rkPnt[i1] - extents[i1];
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float fProd0 = rkDir[i1]*fPmE0;
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float fProd1 = rkDir[i0]*fPmE1;
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float fDelta, fInvLSqr, fInv;
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if(fProd0 >= fProd1)
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{
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// line intersects P[i0] = e[i0]
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rkPnt[i0] = extents[i0];
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float fPpE1 = rkPnt[i1] + extents[i1];
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fDelta = fProd0 - rkDir[i0]*fPpE1;
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if(fDelta >= 0.0f)
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{
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fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]);
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rfSqrDistance += fDelta*fDelta*fInvLSqr;
|
||
|
|
if(pfLParam)
|
||
|
|
{
|
||
|
|
rkPnt[i1] = -extents[i1];
|
||
|
|
*pfLParam = -(rkDir[i0]*fPmE0+rkDir[i1]*fPpE1)*fInvLSqr;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if(pfLParam)
|
||
|
|
{
|
||
|
|
fInv = 1.0f/rkDir[i0];
|
||
|
|
rkPnt[i1] -= fProd0*fInv;
|
||
|
|
*pfLParam = -fPmE0*fInv;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
// line intersects P[i1] = e[i1]
|
||
|
|
rkPnt[i1] = extents[i1];
|
||
|
|
|
||
|
|
float fPpE0 = rkPnt[i0] + extents[i0];
|
||
|
|
fDelta = fProd1 - rkDir[i1]*fPpE0;
|
||
|
|
if(fDelta >= 0.0f)
|
||
|
|
{
|
||
|
|
fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]);
|
||
|
|
rfSqrDistance += fDelta*fDelta*fInvLSqr;
|
||
|
|
if(pfLParam)
|
||
|
|
{
|
||
|
|
rkPnt[i0] = -extents[i0];
|
||
|
|
*pfLParam = -(rkDir[i0]*fPpE0+rkDir[i1]*fPmE1)*fInvLSqr;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if(pfLParam)
|
||
|
|
{
|
||
|
|
fInv = 1.0f/rkDir[i1];
|
||
|
|
rkPnt[i0] -= fProd1*fInv;
|
||
|
|
*pfLParam = -fPmE1*fInv;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if(rkPnt[i2] < -extents[i2])
|
||
|
|
{
|
||
|
|
fDelta = rkPnt[i2] + extents[i2];
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt[i2] = -extents[i2];
|
||
|
|
}
|
||
|
|
else if ( rkPnt[i2] > extents[i2] )
|
||
|
|
{
|
||
|
|
fDelta = rkPnt[i2] - extents[i2];
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt[i2] = extents[i2];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
static void Case00(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance)
|
||
|
|
{
|
||
|
|
float fDelta;
|
||
|
|
|
||
|
|
if(pfLParam)
|
||
|
|
*pfLParam = (extents[i0] - rkPnt[i0])/rkDir[i0];
|
||
|
|
|
||
|
|
rkPnt[i0] = extents[i0];
|
||
|
|
|
||
|
|
if(rkPnt[i1] < -extents[i1])
|
||
|
|
{
|
||
|
|
fDelta = rkPnt[i1] + extents[i1];
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt[i1] = -extents[i1];
|
||
|
|
}
|
||
|
|
else if(rkPnt[i1] > extents[i1])
|
||
|
|
{
|
||
|
|
fDelta = rkPnt[i1] - extents[i1];
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt[i1] = extents[i1];
|
||
|
|
}
|
||
|
|
|
||
|
|
if(rkPnt[i2] < -extents[i2])
|
||
|
|
{
|
||
|
|
fDelta = rkPnt[i2] + extents[i2];
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt[i1] = -extents[i2];
|
||
|
|
}
|
||
|
|
else if(rkPnt[i2] > extents[i2])
|
||
|
|
{
|
||
|
|
fDelta = rkPnt[i2] - extents[i2];
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt[i2] = extents[i2];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
static void Case000(Point& rkPnt, const Point& extents, float& rfSqrDistance)
|
||
|
|
{
|
||
|
|
float fDelta;
|
||
|
|
|
||
|
|
if(rkPnt.x < -extents.x)
|
||
|
|
{
|
||
|
|
fDelta = rkPnt.x + extents.x;
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt.x = -extents.x;
|
||
|
|
}
|
||
|
|
else if(rkPnt.x > extents.x)
|
||
|
|
{
|
||
|
|
fDelta = rkPnt.x - extents.x;
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt.x = extents.x;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(rkPnt.y < -extents.y)
|
||
|
|
{
|
||
|
|
fDelta = rkPnt.y + extents.y;
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt.y = -extents.y;
|
||
|
|
}
|
||
|
|
else if(rkPnt.y > extents.y)
|
||
|
|
{
|
||
|
|
fDelta = rkPnt.y - extents.y;
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt.y = extents.y;
|
||
|
|
}
|
||
|
|
|
||
|
|
if(rkPnt.z < -extents.z)
|
||
|
|
{
|
||
|
|
fDelta = rkPnt.z + extents.z;
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt.z = -extents.z;
|
||
|
|
}
|
||
|
|
else if(rkPnt.z > extents.z)
|
||
|
|
{
|
||
|
|
fDelta = rkPnt.z - extents.z;
|
||
|
|
rfSqrDistance += fDelta*fDelta;
|
||
|
|
rkPnt.z = extents.z;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
static float SqrDistance(const Ray& rkLine, const Point& center, const Point& extents, float* pfLParam)
|
||
|
|
{
|
||
|
|
// compute coordinates of line in box coordinate system
|
||
|
|
Point kDiff = rkLine.mOrig - center;
|
||
|
|
Point kPnt = kDiff;
|
||
|
|
Point kDir = rkLine.mDir;
|
||
|
|
|
||
|
|
// Apply reflections so that direction vector has nonnegative components.
|
||
|
|
bool bReflect[3];
|
||
|
|
for(int i=0;i<3;i++)
|
||
|
|
{
|
||
|
|
if(kDir[i]<0.0f)
|
||
|
|
{
|
||
|
|
kPnt[i] = -kPnt[i];
|
||
|
|
kDir[i] = -kDir[i];
|
||
|
|
bReflect[i] = true;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
bReflect[i] = false;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
float fSqrDistance = 0.0f;
|
||
|
|
|
||
|
|
if(kDir.x>0.0f)
|
||
|
|
{
|
||
|
|
if(kDir.y>0.0f)
|
||
|
|
{
|
||
|
|
if(kDir.z>0.0f) CaseNoZeros(kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,+)
|
||
|
|
else Case0(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,+,0)
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if(kDir.z>0.0f) Case0(0, 2, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,+)
|
||
|
|
else Case00(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (+,0,0)
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if(kDir.y>0.0f)
|
||
|
|
{
|
||
|
|
if(kDir.z>0.0f) Case0(1, 2, 0, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,+)
|
||
|
|
else Case00(1, 0, 2, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,+,0)
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if(kDir.z>0.0f) Case00(2, 0, 1, kPnt, kDir, extents, pfLParam, fSqrDistance); // (0,0,+)
|
||
|
|
else
|
||
|
|
{
|
||
|
|
Case000(kPnt, extents, fSqrDistance); // (0,0,0)
|
||
|
|
if(pfLParam) *pfLParam = 0.0f;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return fSqrDistance;
|
||
|
|
}
|
||
|
|
|
||
|
|
inline_ float OPC_SegmentOBBSqrDist(const Segment& segment, const Point& c0, const Point& e0)
|
||
|
|
{
|
||
|
|
float fLP;
|
||
|
|
float fSqrDistance = SqrDistance(Ray(segment.GetOrigin(), segment.ComputeDirection()), c0, e0, &fLP);
|
||
|
|
if(fLP>=0.0f)
|
||
|
|
{
|
||
|
|
if(fLP<=1.0f) return fSqrDistance;
|
||
|
|
else return OPC_PointAABBSqrDist(segment.mP1, c0, e0);
|
||
|
|
}
|
||
|
|
else return OPC_PointAABBSqrDist(segment.mP0, c0, e0);
|
||
|
|
}
|
||
|
|
|
||
|
|
inline_ BOOL LSSCollider::LSSAABBOverlap(const Point& center, const Point& extents)
|
||
|
|
{
|
||
|
|
// Stats
|
||
|
|
mNbVolumeBVTests++;
|
||
|
|
|
||
|
|
float s2 = OPC_SegmentOBBSqrDist(mSeg, center, extents);
|
||
|
|
if(s2<mRadius2) return TRUE;
|
||
|
|
|
||
|
|
return FALSE;
|
||
|
|
}
|