summaryrefslogtreecommitdiff
path: root/libs/ode-0.16.1/OPCODE/OPC_TriBoxOverlap.h
diff options
context:
space:
mode:
Diffstat (limited to 'libs/ode-0.16.1/OPCODE/OPC_TriBoxOverlap.h')
-rw-r--r--libs/ode-0.16.1/OPCODE/OPC_TriBoxOverlap.h339
1 files changed, 339 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/OPCODE/OPC_TriBoxOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_TriBoxOverlap.h
new file mode 100644
index 0000000..b3a9bde
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_TriBoxOverlap.h
@@ -0,0 +1,339 @@
+
+//! This macro quickly finds the min & max values among 3 variables
+#define FINDMINMAX(x0, x1, x2, min, max) \
+ min = max = x0; \
+ if(x1<min) min=x1; \
+ if(x1>max) max=x1; \
+ if(x2<min) min=x2; \
+ if(x2>max) max=x2;
+
+//! TO BE DOCUMENTED
+inline_ BOOL planeBoxOverlap(const Point& normal, const float d, const Point& maxbox)
+{
+ Point vmin, vmax;
+ for(udword q=0;q<=2;q++)
+ {
+ if(normal[q]>0.0f) { vmin[q]=-maxbox[q]; vmax[q]=maxbox[q]; }
+ else { vmin[q]=maxbox[q]; vmax[q]=-maxbox[q]; }
+ }
+ if((normal|vmin)+d>0.0f) return FALSE;
+ if((normal|vmax)+d>=0.0f) return TRUE;
+
+ return FALSE;
+}
+
+//! TO BE DOCUMENTED
+#define AXISTEST_X01(a, b, fa, fb) \
+ min = a*v0.y - b*v0.z; \
+ max = a*v2.y - b*v2.z; \
+ if(min>max) {const float tmp=max; max=min; min=tmp; } \
+ rad = fa * extents.y + fb * extents.z; \
+ if(min>rad || max<-rad) return FALSE;
+
+//! TO BE DOCUMENTED
+#define AXISTEST_X2(a, b, fa, fb) \
+ min = a*v0.y - b*v0.z; \
+ max = a*v1.y - b*v1.z; \
+ if(min>max) {const float tmp=max; max=min; min=tmp; } \
+ rad = fa * extents.y + fb * extents.z; \
+ if(min>rad || max<-rad) return FALSE;
+
+//! TO BE DOCUMENTED
+#define AXISTEST_Y02(a, b, fa, fb) \
+ min = b*v0.z - a*v0.x; \
+ max = b*v2.z - a*v2.x; \
+ if(min>max) {const float tmp=max; max=min; min=tmp; } \
+ rad = fa * extents.x + fb * extents.z; \
+ if(min>rad || max<-rad) return FALSE;
+
+//! TO BE DOCUMENTED
+#define AXISTEST_Y1(a, b, fa, fb) \
+ min = b*v0.z - a*v0.x; \
+ max = b*v1.z - a*v1.x; \
+ if(min>max) {const float tmp=max; max=min; min=tmp; } \
+ rad = fa * extents.x + fb * extents.z; \
+ if(min>rad || max<-rad) return FALSE;
+
+//! TO BE DOCUMENTED
+#define AXISTEST_Z12(a, b, fa, fb) \
+ min = a*v1.x - b*v1.y; \
+ max = a*v2.x - b*v2.y; \
+ if(min>max) {const float tmp=max; max=min; min=tmp; } \
+ rad = fa * extents.x + fb * extents.y; \
+ if(min>rad || max<-rad) return FALSE;
+
+//! TO BE DOCUMENTED
+#define AXISTEST_Z0(a, b, fa, fb) \
+ min = a*v0.x - b*v0.y; \
+ max = a*v1.x - b*v1.y; \
+ if(min>max) {const float tmp=max; max=min; min=tmp; } \
+ rad = fa * extents.x + fb * extents.y; \
+ if(min>rad || max<-rad) return FALSE;
+
+// compute triangle edges
+// - edges lazy evaluated to take advantage of early exits
+// - fabs precomputed (half less work, possible since extents are always >0)
+// - customized macros to take advantage of the null component
+// - axis vector discarded, possibly saves useless movs
+#define IMPLEMENT_CLASS3_TESTS \
+ float rad; \
+ float min, max; \
+ \
+ const float fey0 = fabsf(e0.y); \
+ const float fez0 = fabsf(e0.z); \
+ AXISTEST_X01(e0.z, e0.y, fez0, fey0); \
+ const float fex0 = fabsf(e0.x); \
+ AXISTEST_Y02(e0.z, e0.x, fez0, fex0); \
+ AXISTEST_Z12(e0.y, e0.x, fey0, fex0); \
+ \
+ const float fey1 = fabsf(e1.y); \
+ const float fez1 = fabsf(e1.z); \
+ AXISTEST_X01(e1.z, e1.y, fez1, fey1); \
+ const float fex1 = fabsf(e1.x); \
+ AXISTEST_Y02(e1.z, e1.x, fez1, fex1); \
+ AXISTEST_Z0(e1.y, e1.x, fey1, fex1); \
+ \
+ const Point e2 = mLeafVerts[0] - mLeafVerts[2]; \
+ const float fey2 = fabsf(e2.y); \
+ const float fez2 = fabsf(e2.z); \
+ AXISTEST_X2(e2.z, e2.y, fez2, fey2); \
+ const float fex2 = fabsf(e2.x); \
+ AXISTEST_Y1(e2.z, e2.x, fez2, fex2); \
+ AXISTEST_Z12(e2.y, e2.x, fey2, fex2);
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Triangle-Box overlap test using the separating axis theorem.
+ * This is the code from Tomas Möller, a bit optimized:
+ * - with some more lazy evaluation (faster path on PC)
+ * - with a tiny bit of assembly
+ * - with "SAT-lite" applied if needed
+ * - and perhaps with some more minor modifs...
+ *
+ * \param center [in] box center
+ * \param extents [in] box extents
+ * \return true if triangle & box overlap
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL AABBTreeCollider::TriBoxOverlap(const Point& center, const Point& extents)
+{
+ // Stats
+ mNbBVPrimTests++;
+
+ // use separating axis theorem to test overlap between triangle and box
+ // need to test for overlap in these directions:
+ // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle
+ // we do not even need to test these)
+ // 2) normal of the triangle
+ // 3) crossproduct(edge from tri, {x,y,z}-directin)
+ // this gives 3x3=9 more tests
+
+ // move everything so that the boxcenter is in (0,0,0)
+ Point v0, v1, v2;
+ v0.x = mLeafVerts[0].x - center.x;
+ v1.x = mLeafVerts[1].x - center.x;
+ v2.x = mLeafVerts[2].x - center.x;
+
+ // First, test overlap in the {x,y,z}-directions
+#ifdef OPC_USE_FCOMI
+ // find min, max of the triangle in x-direction, and test for overlap in X
+ if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE;
+ if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE;
+
+ // same for Y
+ v0.y = mLeafVerts[0].y - center.y;
+ v1.y = mLeafVerts[1].y - center.y;
+ v2.y = mLeafVerts[2].y - center.y;
+
+ if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE;
+ if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE;
+
+ // same for Z
+ v0.z = mLeafVerts[0].z - center.z;
+ v1.z = mLeafVerts[1].z - center.z;
+ v2.z = mLeafVerts[2].z - center.z;
+
+ if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE;
+ if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE;
+#else
+ float min,max;
+ // Find min, max of the triangle in x-direction, and test for overlap in X
+ FINDMINMAX(v0.x, v1.x, v2.x, min, max);
+ if(min>extents.x || max<-extents.x) return FALSE;
+
+ // Same for Y
+ v0.y = mLeafVerts[0].y - center.y;
+ v1.y = mLeafVerts[1].y - center.y;
+ v2.y = mLeafVerts[2].y - center.y;
+
+ FINDMINMAX(v0.y, v1.y, v2.y, min, max);
+ if(min>extents.y || max<-extents.y) return FALSE;
+
+ // Same for Z
+ v0.z = mLeafVerts[0].z - center.z;
+ v1.z = mLeafVerts[1].z - center.z;
+ v2.z = mLeafVerts[2].z - center.z;
+
+ FINDMINMAX(v0.z, v1.z, v2.z, min, max);
+ if(min>extents.z || max<-extents.z) return FALSE;
+#endif
+ // 2) Test if the box intersects the plane of the triangle
+ // compute plane equation of triangle: normal*x+d=0
+ // ### could be precomputed since we use the same leaf triangle several times
+ const Point e0 = v1 - v0;
+ const Point e1 = v2 - v1;
+ const Point normal = e0 ^ e1;
+ const float d = -normal|v0;
+ if(!planeBoxOverlap(normal, d, extents)) return FALSE;
+
+ // 3) "Class III" tests
+ if(mFullPrimBoxTest)
+ {
+ IMPLEMENT_CLASS3_TESTS
+ }
+ return TRUE;
+}
+
+//! A dedicated version where the box is constant
+inline_ BOOL OBBCollider::TriBoxOverlap()
+{
+ // Stats
+ mNbVolumePrimTests++;
+
+ // Hook
+ const Point& extents = mBoxExtents;
+ const Point& v0 = mLeafVerts[0];
+ const Point& v1 = mLeafVerts[1];
+ const Point& v2 = mLeafVerts[2];
+
+ // use separating axis theorem to test overlap between triangle and box
+ // need to test for overlap in these directions:
+ // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle
+ // we do not even need to test these)
+ // 2) normal of the triangle
+ // 3) crossproduct(edge from tri, {x,y,z}-directin)
+ // this gives 3x3=9 more tests
+
+ // Box center is already in (0,0,0)
+
+ // First, test overlap in the {x,y,z}-directions
+#ifdef OPC_USE_FCOMI
+ // find min, max of the triangle in x-direction, and test for overlap in X
+ if(FCMin3(v0.x, v1.x, v2.x)>mBoxExtents.x) return FALSE;
+ if(FCMax3(v0.x, v1.x, v2.x)<-mBoxExtents.x) return FALSE;
+
+ if(FCMin3(v0.y, v1.y, v2.y)>mBoxExtents.y) return FALSE;
+ if(FCMax3(v0.y, v1.y, v2.y)<-mBoxExtents.y) return FALSE;
+
+ if(FCMin3(v0.z, v1.z, v2.z)>mBoxExtents.z) return FALSE;
+ if(FCMax3(v0.z, v1.z, v2.z)<-mBoxExtents.z) return FALSE;
+#else
+ float min,max;
+ // Find min, max of the triangle in x-direction, and test for overlap in X
+ FINDMINMAX(v0.x, v1.x, v2.x, min, max);
+ if(min>mBoxExtents.x || max<-mBoxExtents.x) return FALSE;
+
+ FINDMINMAX(v0.y, v1.y, v2.y, min, max);
+ if(min>mBoxExtents.y || max<-mBoxExtents.y) return FALSE;
+
+ FINDMINMAX(v0.z, v1.z, v2.z, min, max);
+ if(min>mBoxExtents.z || max<-mBoxExtents.z) return FALSE;
+#endif
+ // 2) Test if the box intersects the plane of the triangle
+ // compute plane equation of triangle: normal*x+d=0
+ // ### could be precomputed since we use the same leaf triangle several times
+ const Point e0 = v1 - v0;
+ const Point e1 = v2 - v1;
+ const Point normal = e0 ^ e1;
+ const float d = -normal|v0;
+ if(!planeBoxOverlap(normal, d, mBoxExtents)) return FALSE;
+
+ // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV)
+ {
+ IMPLEMENT_CLASS3_TESTS
+ }
+ return TRUE;
+}
+
+//! ...and another one, jeez
+inline_ BOOL AABBCollider::TriBoxOverlap()
+{
+ // Stats
+ mNbVolumePrimTests++;
+
+ // Hook
+ const Point& center = mBox.mCenter;
+ const Point& extents = mBox.mExtents;
+
+ // use separating axis theorem to test overlap between triangle and box
+ // need to test for overlap in these directions:
+ // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle
+ // we do not even need to test these)
+ // 2) normal of the triangle
+ // 3) crossproduct(edge from tri, {x,y,z}-directin)
+ // this gives 3x3=9 more tests
+
+ // move everything so that the boxcenter is in (0,0,0)
+ Point v0, v1, v2;
+ v0.x = mLeafVerts[0].x - center.x;
+ v1.x = mLeafVerts[1].x - center.x;
+ v2.x = mLeafVerts[2].x - center.x;
+
+ // First, test overlap in the {x,y,z}-directions
+#ifdef OPC_USE_FCOMI
+ // find min, max of the triangle in x-direction, and test for overlap in X
+ if(FCMin3(v0.x, v1.x, v2.x)>extents.x) return FALSE;
+ if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE;
+
+ // same for Y
+ v0.y = mLeafVerts[0].y - center.y;
+ v1.y = mLeafVerts[1].y - center.y;
+ v2.y = mLeafVerts[2].y - center.y;
+
+ if(FCMin3(v0.y, v1.y, v2.y)>extents.y) return FALSE;
+ if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE;
+
+ // same for Z
+ v0.z = mLeafVerts[0].z - center.z;
+ v1.z = mLeafVerts[1].z - center.z;
+ v2.z = mLeafVerts[2].z - center.z;
+
+ if(FCMin3(v0.z, v1.z, v2.z)>extents.z) return FALSE;
+ if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE;
+#else
+ float min,max;
+ // Find min, max of the triangle in x-direction, and test for overlap in X
+ FINDMINMAX(v0.x, v1.x, v2.x, min, max);
+ if(min>extents.x || max<-extents.x) return FALSE;
+
+ // Same for Y
+ v0.y = mLeafVerts[0].y - center.y;
+ v1.y = mLeafVerts[1].y - center.y;
+ v2.y = mLeafVerts[2].y - center.y;
+
+ FINDMINMAX(v0.y, v1.y, v2.y, min, max);
+ if(min>extents.y || max<-extents.y) return FALSE;
+
+ // Same for Z
+ v0.z = mLeafVerts[0].z - center.z;
+ v1.z = mLeafVerts[1].z - center.z;
+ v2.z = mLeafVerts[2].z - center.z;
+
+ FINDMINMAX(v0.z, v1.z, v2.z, min, max);
+ if(min>extents.z || max<-extents.z) return FALSE;
+#endif
+ // 2) Test if the box intersects the plane of the triangle
+ // compute plane equation of triangle: normal*x+d=0
+ // ### could be precomputed since we use the same leaf triangle several times
+ const Point e0 = v1 - v0;
+ const Point e1 = v2 - v1;
+ const Point normal = e0 ^ e1;
+ const float d = -normal|v0;
+ if(!planeBoxOverlap(normal, d, extents)) return FALSE;
+
+ // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV)
+ {
+ IMPLEMENT_CLASS3_TESTS
+ }
+ return TRUE;
+}
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-01 00:15:09 +0000