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-rw-r--r--libs/ode-0.16.1/OPCODE/OPC_RayAABBOverlap.h63
1 files changed, 63 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/OPCODE/OPC_RayAABBOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_RayAABBOverlap.h
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+++ b/libs/ode-0.16.1/OPCODE/OPC_RayAABBOverlap.h
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+// 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;
+}