643 lines
13 KiB
C++
643 lines
13 KiB
C++
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#include "Rect3.h"
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#include "Vector3.h"
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#include "Plane.h"
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#include <algorithm>
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namespace godot {
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bool Rect3::intersects(const Rect3& p_aabb) const {
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if ( pos.x >= (p_aabb.pos.x + p_aabb.size.x) )
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return false;
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if ( (pos.x+size.x) <= p_aabb.pos.x )
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return false;
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if ( pos.y >= (p_aabb.pos.y + p_aabb.size.y) )
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return false;
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if ( (pos.y+size.y) <= p_aabb.pos.y )
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return false;
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if ( pos.z >= (p_aabb.pos.z + p_aabb.size.z) )
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return false;
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if ( (pos.z+size.z) <= p_aabb.pos.z )
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return false;
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return true;
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}
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bool Rect3::intersects_inclusive(const Rect3& p_aabb) const {
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if ( pos.x > (p_aabb.pos.x + p_aabb.size.x) )
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return false;
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if ( (pos.x+size.x) < p_aabb.pos.x )
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return false;
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if ( pos.y > (p_aabb.pos.y + p_aabb.size.y) )
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return false;
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if ( (pos.y+size.y) < p_aabb.pos.y )
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return false;
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if ( pos.z > (p_aabb.pos.z + p_aabb.size.z) )
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return false;
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if ( (pos.z+size.z) < p_aabb.pos.z )
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return false;
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return true;
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}
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bool Rect3::encloses(const Rect3 & p_aabb) const {
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Vector3 src_min=pos;
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Vector3 src_max=pos+size;
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Vector3 dst_min=p_aabb.pos;
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Vector3 dst_max=p_aabb.pos+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 Rect3::get_support(const Vector3& p_normal) const {
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Vector3 half_extents = size * 0.5;
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Vector3 ofs = pos + 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 Rect3::get_endpoint(int p_point) const {
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switch(p_point) {
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case 0: return Vector3( pos.x , pos.y , pos.z );
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case 1: return Vector3( pos.x , pos.y , pos.z+size.z );
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case 2: return Vector3( pos.x , pos.y+size.y , pos.z );
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case 3: return Vector3( pos.x , pos.y+size.y , pos.z+size.z );
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case 4: return Vector3( pos.x+size.x , pos.y , pos.z );
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case 5: return Vector3( pos.x+size.x , pos.y , pos.z+size.z );
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case 6: return Vector3( pos.x+size.x , pos.y+size.y , pos.z );
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case 7: return Vector3( pos.x+size.x , pos.y+size.y , pos.z+size.z );
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};
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ERR_FAIL_V(Vector3());
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}
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bool Rect3::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 = pos + 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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);
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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 Rect3::has_point(const Vector3& p_point) const {
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if (p_point.x<pos.x)
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return false;
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if (p_point.y<pos.y)
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return false;
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if (p_point.z<pos.z)
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return false;
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if (p_point.x>pos.x+size.x)
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return false;
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if (p_point.y>pos.y+size.y)
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return false;
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if (p_point.z>pos.z+size.z)
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return false;
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return true;
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}
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void Rect3::expand_to(const Vector3& p_vector) {
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Vector3 begin=pos;
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Vector3 end=pos+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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pos=begin;
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size=end-begin;
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}
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void Rect3::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( pos.x + half_extents.x, pos.y + half_extents.y, pos.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 Rect3::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 Rect3::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 Rect3::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=pos+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 = (pos.x - from.x) * divx;
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tmax = (upbound.x - from.x) * divx;
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}
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else {
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tmin = (upbound.x - from.x) * divx;
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tmax = (pos.x - from.x) * divx;
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}
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if (dir.y >= 0) {
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tymin = (pos.y - from.y) * divy;
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tymax = (upbound.y - from.y) * divy;
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}
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else {
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tymin = (upbound.y - from.y) * divy;
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tymax = (pos.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 = (pos.z - from.z) * divz;
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tzmax = (upbound.z - from.z) * divz;
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}
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else {
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tzmin = (upbound.z - from.z) * divz;
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tzmax = (pos.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 Rect3::grow_by(real_t p_amount) {
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pos.x-=p_amount;
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pos.y-=p_amount;
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pos.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 Rect3::get_area() const {
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return size.x*size.y*size.z;
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}
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bool Rect3::operator==(const Rect3& p_rval) const {
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return ((pos==p_rval.pos) && (size==p_rval.size));
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}
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bool Rect3::operator!=(const Rect3& p_rval) const {
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return ((pos!=p_rval.pos) || (size!=p_rval.size));
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}
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void Rect3::merge_with(const Rect3& 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=pos;
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beg_2=p_aabb.pos;
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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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pos=min;
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size=max-min;
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}
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Rect3 Rect3::intersection(const Rect3& p_aabb) const {
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Vector3 src_min=pos;
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Vector3 src_max=pos+size;
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Vector3 dst_min=p_aabb.pos;
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Vector3 dst_max=p_aabb.pos+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 Rect3();
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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 Rect3();
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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 Rect3();
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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 Rect3( min, max-min );
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}
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bool Rect3::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 = pos+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] < pos[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] = (pos[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) ){
|
||
|
|
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 Rect3::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;
|
||
|
|
real_t 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;
|
||
|
|
real_t 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 Rect3::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 Rect3::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 Rect3::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 Rect3::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 Rect3::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;
|
||
|
|
}
|
||
|
|
|
||
|
|
Rect3 Rect3::merge(const Rect3& p_with) const {
|
||
|
|
|
||
|
|
Rect3 aabb=*this;
|
||
|
|
aabb.merge_with(p_with);
|
||
|
|
return aabb;
|
||
|
|
}
|
||
|
|
Rect3 Rect3::expand(const Vector3& p_vector) const {
|
||
|
|
Rect3 aabb=*this;
|
||
|
|
aabb.expand_to(p_vector);
|
||
|
|
return aabb;
|
||
|
|
|
||
|
|
}
|
||
|
|
Rect3 Rect3::grow(real_t p_by) const {
|
||
|
|
|
||
|
|
Rect3 aabb=*this;
|
||
|
|
aabb.grow_by(p_by);
|
||
|
|
return aabb;
|
||
|
|
}
|
||
|
|
|
||
|
|
void Rect3::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;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
Rect3::operator String() const {
|
||
|
|
|
||
|
|
//return String()+pos +" - "+ size;
|
||
|
|
return String(); // @Todo
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|