641 lines
14 KiB
C++
641 lines
14 KiB
C++
#include "AABB.hpp"
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#include "Vector3.hpp"
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#include "Plane.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: return Vector3( position.x , position.y , position.z );
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case 1: return Vector3( position.x , position.y , position.z+size.z );
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case 2: return Vector3( position.x , position.y+size.y , position.z );
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case 3: return Vector3( position.x , position.y+size.y , position.z+size.z );
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case 4: return Vector3( position.x+size.x , position.y , position.z );
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case 5: return Vector3( position.x+size.x , position.y , position.z+size.z );
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case 6: return Vector3( position.x+size.x , position.y+size.y , position.z );
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case 7: 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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);
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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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}
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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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}
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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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}
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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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}
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return axis;
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}
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int AABB::get_longest_axis_index() const {
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int axis=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=1;
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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=2;
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max_size=size.z;
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}
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return axis;
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}
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Vector3 AABB::get_shortest_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;
|
|
}
|
|
|
|
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;
|
|
return String(); // @Todo
|
|
}
|
|
|
|
}
|