summaryrefslogtreecommitdiff
path: root/libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h
diff options
context:
space:
mode:
Diffstat (limited to 'libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h')
-rw-r--r--libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h525
1 files changed, 525 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h
new file mode 100644
index 0000000..c6ba9d3
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h
@@ -0,0 +1,525 @@
+
+// Following code from Magic-Software (http://www.magic-software.com/)
+// A bit modified for Opcode
+
+inline_ float OPC_PointAABBSqrDist(const Point& point, const Point& center, const Point& extents)
+{
+ // Compute coordinates of point in box coordinate system
+ Point Closest = point - center;
+
+ float SqrDistance = 0.0f;
+
+ if(Closest.x < -extents.x)
+ {
+ float Delta = Closest.x + extents.x;
+ SqrDistance += Delta*Delta;
+ }
+ else if(Closest.x > extents.x)
+ {
+ float Delta = Closest.x - extents.x;
+ SqrDistance += Delta*Delta;
+ }
+
+ if(Closest.y < -extents.y)
+ {
+ float Delta = Closest.y + extents.y;
+ SqrDistance += Delta*Delta;
+ }
+ else if(Closest.y > extents.y)
+ {
+ float Delta = Closest.y - extents.y;
+ SqrDistance += Delta*Delta;
+ }
+
+ if(Closest.z < -extents.z)
+ {
+ float Delta = Closest.z + extents.z;
+ SqrDistance += Delta*Delta;
+ }
+ else if(Closest.z > extents.z)
+ {
+ float Delta = Closest.z - extents.z;
+ SqrDistance += Delta*Delta;
+ }
+ return SqrDistance;
+}
+
+static void Face(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, const Point& rkPmE, float* pfLParam, float& rfSqrDistance)
+{
+ Point kPpE;
+ float fLSqr, fInv, fTmp, fParam, fT, fDelta;
+
+ kPpE[i1] = rkPnt[i1] + extents[i1];
+ kPpE[i2] = rkPnt[i2] + extents[i2];
+ if(rkDir[i0]*kPpE[i1] >= rkDir[i1]*rkPmE[i0])
+ {
+ if(rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0])
+ {
+ // v[i1] >= -e[i1], v[i2] >= -e[i2] (distance = 0)
+ if(pfLParam)
+ {
+ rkPnt[i0] = extents[i0];
+ fInv = 1.0f/rkDir[i0];
+ rkPnt[i1] -= rkDir[i1]*rkPmE[i0]*fInv;
+ rkPnt[i2] -= rkDir[i2]*rkPmE[i0]*fInv;
+ *pfLParam = -rkPmE[i0]*fInv;
+ }
+ }
+ else
+ {
+ // v[i1] >= -e[i1], v[i2] < -e[i2]
+ fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i2]*rkDir[i2];
+ fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]);
+ if(fTmp <= 2.0f*fLSqr*extents[i1])
+ {
+ fT = fTmp/fLSqr;
+ fLSqr += rkDir[i1]*rkDir[i1];
+ fTmp = kPpE[i1] - fT;
+ fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2];
+ fParam = -fDelta/fLSqr;
+ rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam;
+
+ if(pfLParam)
+ {
+ *pfLParam = fParam;
+ rkPnt[i0] = extents[i0];
+ rkPnt[i1] = fT - extents[i1];
+ rkPnt[i2] = -extents[i2];
+ }
+ }
+ else
+ {
+ fLSqr += rkDir[i1]*rkDir[i1];
+ fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2];
+ fParam = -fDelta/fLSqr;
+ rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
+
+ if(pfLParam)
+ {
+ *pfLParam = fParam;
+ rkPnt[i0] = extents[i0];
+ rkPnt[i1] = extents[i1];
+ rkPnt[i2] = -extents[i2];
+ }
+ }
+ }
+ }
+ else
+ {
+ if ( rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0] )
+ {
+ // v[i1] < -e[i1], v[i2] >= -e[i2]
+ fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1];
+ fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]);
+ if(fTmp <= 2.0f*fLSqr*extents[i2])
+ {
+ fT = fTmp/fLSqr;
+ fLSqr += rkDir[i2]*rkDir[i2];
+ fTmp = kPpE[i2] - fT;
+ fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp;
+ fParam = -fDelta/fLSqr;
+ rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam;
+
+ if(pfLParam)
+ {
+ *pfLParam = fParam;
+ rkPnt[i0] = extents[i0];
+ rkPnt[i1] = -extents[i1];
+ rkPnt[i2] = fT - extents[i2];
+ }
+ }
+ else
+ {
+ fLSqr += rkDir[i2]*rkDir[i2];
+ fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2];
+ fParam = -fDelta/fLSqr;
+ rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam;
+
+ if(pfLParam)
+ {
+ *pfLParam = fParam;
+ rkPnt[i0] = extents[i0];
+ rkPnt[i1] = -extents[i1];
+ rkPnt[i2] = extents[i2];
+ }
+ }
+ }
+ else
+ {
+ // v[i1] < -e[i1], v[i2] < -e[i2]
+ fLSqr = rkDir[i0]*rkDir[i0]+rkDir[i2]*rkDir[i2];
+ fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]);
+ if(fTmp >= 0.0f)
+ {
+ // v[i1]-edge is closest
+ if ( fTmp <= 2.0f*fLSqr*extents[i1] )
+ {
+ fT = fTmp/fLSqr;
+ fLSqr += rkDir[i1]*rkDir[i1];
+ fTmp = kPpE[i1] - fT;
+ fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2];
+ fParam = -fDelta/fLSqr;
+ rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam;
+
+ if(pfLParam)
+ {
+ *pfLParam = fParam;
+ rkPnt[i0] = extents[i0];
+ rkPnt[i1] = fT - extents[i1];
+ rkPnt[i2] = -extents[i2];
+ }
+ }
+ else
+ {
+ fLSqr += rkDir[i1]*rkDir[i1];
+ fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2];
+ fParam = -fDelta/fLSqr;
+ rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
+
+ if(pfLParam)
+ {
+ *pfLParam = fParam;
+ rkPnt[i0] = extents[i0];
+ rkPnt[i1] = extents[i1];
+ rkPnt[i2] = -extents[i2];
+ }
+ }
+ return;
+ }
+
+ fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1];
+ fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]);
+ if(fTmp >= 0.0f)
+ {
+ // v[i2]-edge is closest
+ if(fTmp <= 2.0f*fLSqr*extents[i2])
+ {
+ fT = fTmp/fLSqr;
+ fLSqr += rkDir[i2]*rkDir[i2];
+ fTmp = kPpE[i2] - fT;
+ fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp;
+ fParam = -fDelta/fLSqr;
+ rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam;
+
+ if(pfLParam)
+ {
+ *pfLParam = fParam;
+ rkPnt[i0] = extents[i0];
+ rkPnt[i1] = -extents[i1];
+ rkPnt[i2] = fT - extents[i2];
+ }
+ }
+ else
+ {
+ fLSqr += rkDir[i2]*rkDir[i2];
+ fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2];
+ fParam = -fDelta/fLSqr;
+ rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam;
+
+ if(pfLParam)
+ {
+ *pfLParam = fParam;
+ rkPnt[i0] = extents[i0];
+ rkPnt[i1] = -extents[i1];
+ rkPnt[i2] = extents[i2];
+ }
+ }
+ return;
+ }
+
+ // (v[i1],v[i2])-corner is closest
+ fLSqr += rkDir[i2]*rkDir[i2];
+ fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*kPpE[i2];
+ fParam = -fDelta/fLSqr;
+ rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
+
+ if(pfLParam)
+ {
+ *pfLParam = fParam;
+ rkPnt[i0] = extents[i0];
+ rkPnt[i1] = -extents[i1];
+ rkPnt[i2] = -extents[i2];
+ }
+ }
+ }
+}
+
+static void CaseNoZeros(Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance)
+{
+ Point kPmE(rkPnt.x - extents.x, rkPnt.y - extents.y, rkPnt.z - extents.z);
+
+ float fProdDxPy, fProdDyPx, fProdDzPx, fProdDxPz, fProdDzPy, fProdDyPz;
+
+ fProdDxPy = rkDir.x*kPmE.y;
+ fProdDyPx = rkDir.y*kPmE.x;
+ if(fProdDyPx >= fProdDxPy)
+ {
+ fProdDzPx = rkDir.z*kPmE.x;
+ fProdDxPz = rkDir.x*kPmE.z;
+ if(fProdDzPx >= fProdDxPz)
+ {
+ // line intersects x = e0
+ Face(0, 1, 2, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
+ }
+ else
+ {
+ // line intersects z = e2
+ Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
+ }
+ }
+ else
+ {
+ fProdDzPy = rkDir.z*kPmE.y;
+ fProdDyPz = rkDir.y*kPmE.z;
+ if(fProdDzPy >= fProdDyPz)
+ {
+ // line intersects y = e1
+ Face(1, 2, 0, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
+ }
+ else
+ {
+ // line intersects z = e2
+ Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
+ }
+ }
+}
+
+static void Case0(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance)
+{
+ float fPmE0 = rkPnt[i0] - extents[i0];
+ float fPmE1 = rkPnt[i1] - extents[i1];
+ float fProd0 = rkDir[i1]*fPmE0;
+ float fProd1 = rkDir[i0]*fPmE1;
+ float fDelta, fInvLSqr, fInv;
+
+ if(fProd0 >= fProd1)
+ {
+ // line intersects P[i0] = e[i0]
+ rkPnt[i0] = extents[i0];
+
+ float fPpE1 = rkPnt[i1] + extents[i1];
+ fDelta = fProd0 - rkDir[i0]*fPpE1;
+ if(fDelta >= 0.0f)
+ {
+ fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]);
+ 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;
+
+#if 0
+ // 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;
+ }
+ }
+#endif
+
+ 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;
+}
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-01 07:22:22 +0000