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authordan miller2007-10-19 05:20:48 +0000
committerdan miller2007-10-19 05:20:48 +0000
commitd48ea5bb797037069d641da41da0f195f0124491 (patch)
tree40ff433d94859d629aac933d5ec73b382f62ba1a /libraries/ode-0.9/OPCODE/OPC_RayAABBOverlap.h
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one more for the gipper
Diffstat (limited to 'libraries/ode-0.9/OPCODE/OPC_RayAABBOverlap.h')
-rw-r--r--libraries/ode-0.9/OPCODE/OPC_RayAABBOverlap.h63
1 files changed, 63 insertions, 0 deletions
diff --git a/libraries/ode-0.9/OPCODE/OPC_RayAABBOverlap.h b/libraries/ode-0.9/OPCODE/OPC_RayAABBOverlap.h
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1// Opcode 1.1: ray-AABB overlap tests based on Woo's code
2// Opcode 1.2: ray-AABB overlap tests based on the separating axis theorem
3//
4// The point of intersection is not computed anymore. The distance to impact is not needed anymore
5// since we now have two different queries for segments or rays.
6
7///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
8/**
9 * Computes a segment-AABB overlap test using the separating axis theorem. Segment is cached within the class.
10 * \param center [in] AABB center
11 * \param extents [in] AABB extents
12 * \return true on overlap
13 */
14///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
15inline_ BOOL RayCollider::SegmentAABBOverlap(const Point& center, const Point& extents)
16{
17 // Stats
18 mNbRayBVTests++;
19
20 float Dx = mData2.x - center.x; if(fabsf(Dx) > extents.x + mFDir.x) return FALSE;
21 float Dy = mData2.y - center.y; if(fabsf(Dy) > extents.y + mFDir.y) return FALSE;
22 float Dz = mData2.z - center.z; if(fabsf(Dz) > extents.z + mFDir.z) return FALSE;
23
24 float f;
25 f = mData.y * Dz - mData.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE;
26 f = mData.z * Dx - mData.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE;
27 f = mData.x * Dy - mData.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE;
28
29 return TRUE;
30}
31
32///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
33/**
34 * Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class.
35 * \param center [in] AABB center
36 * \param extents [in] AABB extents
37 * \return true on overlap
38 */
39///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
40inline_ BOOL RayCollider::RayAABBOverlap(const Point& center, const Point& extents)
41{
42 // Stats
43 mNbRayBVTests++;
44
45// float Dx = mOrigin.x - center.x; if(fabsf(Dx) > extents.x && Dx*mDir.x>=0.0f) return FALSE;
46// float Dy = mOrigin.y - center.y; if(fabsf(Dy) > extents.y && Dy*mDir.y>=0.0f) return FALSE;
47// float Dz = mOrigin.z - center.z; if(fabsf(Dz) > extents.z && Dz*mDir.z>=0.0f) return FALSE;
48
49 float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && Dx*mDir.x>=0.0f) return FALSE;
50 float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && Dy*mDir.y>=0.0f) return FALSE;
51 float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && Dz*mDir.z>=0.0f) return FALSE;
52
53// float Dx = mOrigin.x - center.x; if(GREATER(Dx, extents.x) && ((SIR(Dx)-1)^SIR(mDir.x))>=0.0f) return FALSE;
54// float Dy = mOrigin.y - center.y; if(GREATER(Dy, extents.y) && ((SIR(Dy)-1)^SIR(mDir.y))>=0.0f) return FALSE;
55// float Dz = mOrigin.z - center.z; if(GREATER(Dz, extents.z) && ((SIR(Dz)-1)^SIR(mDir.z))>=0.0f) return FALSE;
56
57 float f;
58 f = mDir.y * Dz - mDir.z * Dy; if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y) return FALSE;
59 f = mDir.z * Dx - mDir.x * Dz; if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x) return FALSE;
60 f = mDir.x * Dy - mDir.y * Dx; if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x) return FALSE;
61
62 return TRUE;
63}