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d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
422 lines
12 KiB
C++
422 lines
12 KiB
C++
/**************************************************************************/
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/* aabb.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "aabb.h"
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#include "core/string/ustring.h"
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#include "core/variant/variant.h"
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real_t AABB::get_volume() 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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#ifdef MATH_CHECKS
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if (unlikely(size.x < 0 || size.y < 0 || size.z < 0 || p_aabb.size.x < 0 || p_aabb.size.y < 0 || p_aabb.size.z < 0)) {
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ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
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}
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#endif
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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 = size + beg_1;
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end_2 = p_aabb.size + 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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bool AABB::is_equal_approx(const AABB &p_aabb) const {
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return position.is_equal_approx(p_aabb.position) && size.is_equal_approx(p_aabb.size);
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}
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bool AABB::is_finite() const {
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return position.is_finite() && size.is_finite();
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}
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AABB AABB::intersection(const AABB &p_aabb) const {
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#ifdef MATH_CHECKS
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if (unlikely(size.x < 0 || size.y < 0 || size.z < 0 || p_aabb.size.x < 0 || p_aabb.size.y < 0 || p_aabb.size.z < 0)) {
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ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
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}
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#endif
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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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#ifdef MATH_CHECKS
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if (unlikely(size.x < 0 || size.y < 0 || size.z < 0)) {
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ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
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}
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#endif
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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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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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}
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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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#ifdef MATH_CHECKS
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if (unlikely(size.x < 0 || size.y < 0 || size.z < 0)) {
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ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
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}
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#endif
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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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}
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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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}
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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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}
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if (max < min) {
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return false;
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}
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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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}
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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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}
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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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}
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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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}
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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 min_size = size.x;
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if (size.y < min_size) {
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axis = Vector3(0, 1, 0);
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min_size = size.y;
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}
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if (size.z < min_size) {
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axis = Vector3(0, 0, 1);
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}
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return axis;
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}
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int AABB::get_shortest_axis_index() const {
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int axis = 0;
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real_t min_size = size.x;
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if (size.y < min_size) {
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axis = 1;
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min_size = size.y;
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}
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if (size.z < min_size) {
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axis = 2;
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}
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return axis;
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}
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AABB AABB::merge(const AABB &p_with) const {
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AABB aabb = *this;
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aabb.merge_with(p_with);
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return aabb;
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}
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AABB AABB::expand(const Vector3 &p_vector) const {
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AABB aabb = *this;
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aabb.expand_to(p_vector);
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return aabb;
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}
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AABB AABB::grow(real_t p_by) const {
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AABB aabb = *this;
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aabb.grow_by(p_by);
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return aabb;
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}
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void AABB::get_edge(int p_edge, Vector3 &r_from, Vector3 &r_to) const {
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ERR_FAIL_INDEX(p_edge, 12);
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switch (p_edge) {
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case 0: {
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r_from = Vector3(position.x + size.x, position.y, position.z);
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r_to = Vector3(position.x, position.y, position.z);
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} break;
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case 1: {
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r_from = Vector3(position.x + size.x, position.y, position.z + size.z);
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r_to = Vector3(position.x + size.x, position.y, position.z);
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} break;
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case 2: {
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r_from = Vector3(position.x, position.y, position.z + size.z);
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r_to = Vector3(position.x + size.x, position.y, position.z + size.z);
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} break;
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case 3: {
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r_from = Vector3(position.x, position.y, position.z);
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r_to = Vector3(position.x, position.y, position.z + size.z);
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} break;
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case 4: {
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r_from = Vector3(position.x, position.y + size.y, position.z);
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r_to = Vector3(position.x + size.x, position.y + size.y, position.z);
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} break;
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case 5: {
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r_from = Vector3(position.x + size.x, position.y + size.y, position.z);
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r_to = Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
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} break;
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case 6: {
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r_from = Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
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r_to = Vector3(position.x, position.y + size.y, position.z + size.z);
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} break;
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case 7: {
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r_from = Vector3(position.x, position.y + size.y, position.z + size.z);
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r_to = Vector3(position.x, position.y + size.y, position.z);
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} break;
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case 8: {
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r_from = Vector3(position.x, position.y, position.z + size.z);
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r_to = Vector3(position.x, position.y + size.y, position.z + size.z);
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} break;
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case 9: {
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r_from = Vector3(position.x, position.y, position.z);
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r_to = Vector3(position.x, position.y + size.y, position.z);
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} break;
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case 10: {
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r_from = Vector3(position.x + size.x, position.y, position.z);
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r_to = Vector3(position.x + size.x, position.y + size.y, position.z);
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} break;
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case 11: {
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r_from = Vector3(position.x + size.x, position.y, position.z + size.z);
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r_to = Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
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} break;
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}
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}
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Variant AABB::intersects_segment_bind(const Vector3 &p_from, const Vector3 &p_to) const {
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Vector3 inters;
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if (intersects_segment(p_from, p_to, &inters)) {
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return inters;
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}
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return Variant();
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}
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Variant AABB::intersects_ray_bind(const Vector3 &p_from, const Vector3 &p_dir) const {
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Vector3 inters;
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if (intersects_ray(p_from, p_dir, &inters)) {
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return inters;
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}
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return Variant();
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}
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AABB::operator String() const {
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return "[P: " + position.operator String() + ", S: " + size + "]";
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}
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