-
Notifications
You must be signed in to change notification settings - Fork 2
/
Copy pathOPC_RayAABBOverlap.h
63 lines (53 loc) · 3.56 KB
/
OPC_RayAABBOverlap.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
// Opcode 1.1: ray-AABB overlap tests based on Woo's code
// Opcode 1.2: ray-AABB overlap tests based on the separating axis theorem
//
// The point of intersection is not computed anymore. The distance to impact is not needed anymore
// since we now have two different queries for segments or rays.
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Computes a segment-AABB overlap test using the separating axis theorem. Segment is cached within the class.
* \param center [in] AABB center
* \param extents [in] AABB extents
* \return true on overlap
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
inline_ BOOL RayCollider::SegmentAABBOverlap(const Point& center, const Point& extents)
{
// Stats
mNbRayBVTests++;
float Dx = mData2.x - center.x; if(fabsf(Dx) > extents.x + mFDir.x) return FALSE;
float Dy = mData2.y - center.y; if(fabsf(Dy) > extents.y + mFDir.y) return FALSE;
float Dz = mData2.z - center.z; if(fabsf(Dz) > extents.z + mFDir.z) return FALSE;
float f;
f = mData.y * Dz - mData.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE;
f = mData.z * Dx - mData.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE;
f = mData.x * Dy - mData.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE;
return TRUE;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class.
* \param center [in] AABB center
* \param extents [in] AABB extents
* \return true on overlap
*/
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
inline_ BOOL RayCollider::RayAABBOverlap(const Point& center, const Point& extents)
{
// Stats
mNbRayBVTests++;
// float Dx = mOrigin.x - center.x; if(fabsf(Dx) > extents.x && Dx*mDir.x>=0.0f) return FALSE;
// float Dy = mOrigin.y - center.y; if(fabsf(Dy) > extents.y && Dy*mDir.y>=0.0f) return FALSE;
// float Dz = mOrigin.z - center.z; if(fabsf(Dz) > extents.z && Dz*mDir.z>=0.0f) return FALSE;
float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && Dx*mDir.x>=0.0f) return FALSE;
float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && Dy*mDir.y>=0.0f) return FALSE;
float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && Dz*mDir.z>=0.0f) return FALSE;
// float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && ((SIR(Dx)-1)^SIR(mDir.x))>=0.0f) return FALSE;
// float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && ((SIR(Dy)-1)^SIR(mDir.y))>=0.0f) return FALSE;
// float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && ((SIR(Dz)-1)^SIR(mDir.z))>=0.0f) return FALSE;
float f;
f = mDir.y * Dz - mDir.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE;
f = mDir.z * Dx - mDir.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE;
f = mDir.x * Dy - mDir.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE;
return TRUE;
}