mirror of
https://github.com/godotengine/godot
synced 2024-11-02 11:20:21 +00:00
416 lines
12 KiB
C++
416 lines
12 KiB
C++
/*************************************************************************/
|
|
/* aabb.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
|
|
#include "aabb.h"
|
|
|
|
#include "core/string/print_string.h"
|
|
#include "core/variant/variant.h"
|
|
|
|
real_t AABB::get_volume() const {
|
|
return size.x * size.y * size.z;
|
|
}
|
|
|
|
bool AABB::operator==(const AABB &p_rval) const {
|
|
return ((position == p_rval.position) && (size == p_rval.size));
|
|
}
|
|
|
|
bool AABB::operator!=(const AABB &p_rval) const {
|
|
return ((position != p_rval.position) || (size != p_rval.size));
|
|
}
|
|
|
|
void AABB::merge_with(const AABB &p_aabb) {
|
|
#ifdef MATH_CHECKS
|
|
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)) {
|
|
ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
|
|
}
|
|
#endif
|
|
Vector3 beg_1, beg_2;
|
|
Vector3 end_1, end_2;
|
|
Vector3 min, max;
|
|
|
|
beg_1 = position;
|
|
beg_2 = p_aabb.position;
|
|
end_1 = size + beg_1;
|
|
end_2 = p_aabb.size + beg_2;
|
|
|
|
min.x = (beg_1.x < beg_2.x) ? beg_1.x : beg_2.x;
|
|
min.y = (beg_1.y < beg_2.y) ? beg_1.y : beg_2.y;
|
|
min.z = (beg_1.z < beg_2.z) ? beg_1.z : beg_2.z;
|
|
|
|
max.x = (end_1.x > end_2.x) ? end_1.x : end_2.x;
|
|
max.y = (end_1.y > end_2.y) ? end_1.y : end_2.y;
|
|
max.z = (end_1.z > end_2.z) ? end_1.z : end_2.z;
|
|
|
|
position = min;
|
|
size = max - min;
|
|
}
|
|
|
|
bool AABB::is_equal_approx(const AABB &p_aabb) const {
|
|
return position.is_equal_approx(p_aabb.position) && size.is_equal_approx(p_aabb.size);
|
|
}
|
|
|
|
AABB AABB::intersection(const AABB &p_aabb) const {
|
|
#ifdef MATH_CHECKS
|
|
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)) {
|
|
ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
|
|
}
|
|
#endif
|
|
Vector3 src_min = position;
|
|
Vector3 src_max = position + size;
|
|
Vector3 dst_min = p_aabb.position;
|
|
Vector3 dst_max = p_aabb.position + p_aabb.size;
|
|
|
|
Vector3 min, max;
|
|
|
|
if (src_min.x > dst_max.x || src_max.x < dst_min.x) {
|
|
return AABB();
|
|
} else {
|
|
min.x = (src_min.x > dst_min.x) ? src_min.x : dst_min.x;
|
|
max.x = (src_max.x < dst_max.x) ? src_max.x : dst_max.x;
|
|
}
|
|
|
|
if (src_min.y > dst_max.y || src_max.y < dst_min.y) {
|
|
return AABB();
|
|
} else {
|
|
min.y = (src_min.y > dst_min.y) ? src_min.y : dst_min.y;
|
|
max.y = (src_max.y < dst_max.y) ? src_max.y : dst_max.y;
|
|
}
|
|
|
|
if (src_min.z > dst_max.z || src_max.z < dst_min.z) {
|
|
return AABB();
|
|
} else {
|
|
min.z = (src_min.z > dst_min.z) ? src_min.z : dst_min.z;
|
|
max.z = (src_max.z < dst_max.z) ? src_max.z : dst_max.z;
|
|
}
|
|
|
|
return AABB(min, max - min);
|
|
}
|
|
|
|
bool AABB::intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, Vector3 *r_clip, Vector3 *r_normal) const {
|
|
#ifdef MATH_CHECKS
|
|
if (unlikely(size.x < 0 || size.y < 0 || size.z < 0)) {
|
|
ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
|
|
}
|
|
#endif
|
|
Vector3 c1, c2;
|
|
Vector3 end = position + size;
|
|
real_t near = -1e20;
|
|
real_t far = 1e20;
|
|
int axis = 0;
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
if (p_dir[i] == 0) {
|
|
if ((p_from[i] < position[i]) || (p_from[i] > end[i])) {
|
|
return false;
|
|
}
|
|
} else { // ray not parallel to planes in this direction
|
|
c1[i] = (position[i] - p_from[i]) / p_dir[i];
|
|
c2[i] = (end[i] - p_from[i]) / p_dir[i];
|
|
|
|
if (c1[i] > c2[i]) {
|
|
SWAP(c1, c2);
|
|
}
|
|
if (c1[i] > near) {
|
|
near = c1[i];
|
|
axis = i;
|
|
}
|
|
if (c2[i] < far) {
|
|
far = c2[i];
|
|
}
|
|
if ((near > far) || (far < 0)) {
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (r_clip) {
|
|
*r_clip = c1;
|
|
}
|
|
if (r_normal) {
|
|
*r_normal = Vector3();
|
|
(*r_normal)[axis] = p_dir[axis] ? -1 : 1;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool AABB::intersects_segment(const Vector3 &p_from, const Vector3 &p_to, Vector3 *r_clip, Vector3 *r_normal) const {
|
|
#ifdef MATH_CHECKS
|
|
if (unlikely(size.x < 0 || size.y < 0 || size.z < 0)) {
|
|
ERR_PRINT("AABB size is negative, this is not supported. Use AABB.abs() to get an AABB with a positive size.");
|
|
}
|
|
#endif
|
|
real_t min = 0, max = 1;
|
|
int axis = 0;
|
|
real_t sign = 0;
|
|
|
|
for (int i = 0; i < 3; i++) {
|
|
real_t seg_from = p_from[i];
|
|
real_t seg_to = p_to[i];
|
|
real_t box_begin = position[i];
|
|
real_t box_end = box_begin + size[i];
|
|
real_t cmin, cmax;
|
|
real_t csign;
|
|
|
|
if (seg_from < seg_to) {
|
|
if (seg_from > box_end || seg_to < box_begin) {
|
|
return false;
|
|
}
|
|
real_t length = seg_to - seg_from;
|
|
cmin = (seg_from < box_begin) ? ((box_begin - seg_from) / length) : 0;
|
|
cmax = (seg_to > box_end) ? ((box_end - seg_from) / length) : 1;
|
|
csign = -1.0;
|
|
|
|
} else {
|
|
if (seg_to > box_end || seg_from < box_begin) {
|
|
return false;
|
|
}
|
|
real_t length = seg_to - seg_from;
|
|
cmin = (seg_from > box_end) ? (box_end - seg_from) / length : 0;
|
|
cmax = (seg_to < box_begin) ? (box_begin - seg_from) / length : 1;
|
|
csign = 1.0;
|
|
}
|
|
|
|
if (cmin > min) {
|
|
min = cmin;
|
|
axis = i;
|
|
sign = csign;
|
|
}
|
|
if (cmax < max) {
|
|
max = cmax;
|
|
}
|
|
if (max < min) {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
Vector3 rel = p_to - p_from;
|
|
|
|
if (r_normal) {
|
|
Vector3 normal;
|
|
normal[axis] = sign;
|
|
*r_normal = normal;
|
|
}
|
|
|
|
if (r_clip) {
|
|
*r_clip = p_from + rel * min;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool AABB::intersects_plane(const Plane &p_plane) const {
|
|
Vector3 points[8] = {
|
|
Vector3(position.x, position.y, position.z),
|
|
Vector3(position.x, position.y, position.z + size.z),
|
|
Vector3(position.x, position.y + size.y, position.z),
|
|
Vector3(position.x, position.y + size.y, position.z + size.z),
|
|
Vector3(position.x + size.x, position.y, position.z),
|
|
Vector3(position.x + size.x, position.y, position.z + size.z),
|
|
Vector3(position.x + size.x, position.y + size.y, position.z),
|
|
Vector3(position.x + size.x, position.y + size.y, position.z + size.z),
|
|
};
|
|
|
|
bool over = false;
|
|
bool under = false;
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
if (p_plane.distance_to(points[i]) > 0) {
|
|
over = true;
|
|
} else {
|
|
under = true;
|
|
}
|
|
}
|
|
|
|
return under && over;
|
|
}
|
|
|
|
Vector3 AABB::get_longest_axis() const {
|
|
Vector3 axis(1, 0, 0);
|
|
real_t max_size = size.x;
|
|
|
|
if (size.y > max_size) {
|
|
axis = Vector3(0, 1, 0);
|
|
max_size = size.y;
|
|
}
|
|
|
|
if (size.z > max_size) {
|
|
axis = Vector3(0, 0, 1);
|
|
}
|
|
|
|
return axis;
|
|
}
|
|
|
|
int AABB::get_longest_axis_index() const {
|
|
int axis = 0;
|
|
real_t max_size = size.x;
|
|
|
|
if (size.y > max_size) {
|
|
axis = 1;
|
|
max_size = size.y;
|
|
}
|
|
|
|
if (size.z > max_size) {
|
|
axis = 2;
|
|
}
|
|
|
|
return axis;
|
|
}
|
|
|
|
Vector3 AABB::get_shortest_axis() const {
|
|
Vector3 axis(1, 0, 0);
|
|
real_t min_size = size.x;
|
|
|
|
if (size.y < min_size) {
|
|
axis = Vector3(0, 1, 0);
|
|
min_size = size.y;
|
|
}
|
|
|
|
if (size.z < min_size) {
|
|
axis = Vector3(0, 0, 1);
|
|
}
|
|
|
|
return axis;
|
|
}
|
|
|
|
int AABB::get_shortest_axis_index() const {
|
|
int axis = 0;
|
|
real_t min_size = size.x;
|
|
|
|
if (size.y < min_size) {
|
|
axis = 1;
|
|
min_size = size.y;
|
|
}
|
|
|
|
if (size.z < min_size) {
|
|
axis = 2;
|
|
}
|
|
|
|
return axis;
|
|
}
|
|
|
|
AABB AABB::merge(const AABB &p_with) const {
|
|
AABB aabb = *this;
|
|
aabb.merge_with(p_with);
|
|
return aabb;
|
|
}
|
|
|
|
AABB AABB::expand(const Vector3 &p_vector) const {
|
|
AABB aabb = *this;
|
|
aabb.expand_to(p_vector);
|
|
return aabb;
|
|
}
|
|
|
|
AABB AABB::grow(real_t p_by) const {
|
|
AABB aabb = *this;
|
|
aabb.grow_by(p_by);
|
|
return aabb;
|
|
}
|
|
|
|
void AABB::get_edge(int p_edge, Vector3 &r_from, Vector3 &r_to) const {
|
|
ERR_FAIL_INDEX(p_edge, 12);
|
|
switch (p_edge) {
|
|
case 0: {
|
|
r_from = Vector3(position.x + size.x, position.y, position.z);
|
|
r_to = Vector3(position.x, position.y, position.z);
|
|
} break;
|
|
case 1: {
|
|
r_from = Vector3(position.x + size.x, position.y, position.z + size.z);
|
|
r_to = Vector3(position.x + size.x, position.y, position.z);
|
|
} break;
|
|
case 2: {
|
|
r_from = Vector3(position.x, position.y, position.z + size.z);
|
|
r_to = Vector3(position.x + size.x, position.y, position.z + size.z);
|
|
|
|
} break;
|
|
case 3: {
|
|
r_from = Vector3(position.x, position.y, position.z);
|
|
r_to = Vector3(position.x, position.y, position.z + size.z);
|
|
|
|
} break;
|
|
case 4: {
|
|
r_from = Vector3(position.x, position.y + size.y, position.z);
|
|
r_to = Vector3(position.x + size.x, position.y + size.y, position.z);
|
|
} break;
|
|
case 5: {
|
|
r_from = Vector3(position.x + size.x, position.y + size.y, position.z);
|
|
r_to = Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
|
|
} break;
|
|
case 6: {
|
|
r_from = Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
|
|
r_to = Vector3(position.x, position.y + size.y, position.z + size.z);
|
|
|
|
} break;
|
|
case 7: {
|
|
r_from = Vector3(position.x, position.y + size.y, position.z + size.z);
|
|
r_to = Vector3(position.x, position.y + size.y, position.z);
|
|
|
|
} break;
|
|
case 8: {
|
|
r_from = Vector3(position.x, position.y, position.z + size.z);
|
|
r_to = Vector3(position.x, position.y + size.y, position.z + size.z);
|
|
|
|
} break;
|
|
case 9: {
|
|
r_from = Vector3(position.x, position.y, position.z);
|
|
r_to = Vector3(position.x, position.y + size.y, position.z);
|
|
|
|
} break;
|
|
case 10: {
|
|
r_from = Vector3(position.x + size.x, position.y, position.z);
|
|
r_to = Vector3(position.x + size.x, position.y + size.y, position.z);
|
|
|
|
} break;
|
|
case 11: {
|
|
r_from = Vector3(position.x + size.x, position.y, position.z + size.z);
|
|
r_to = Vector3(position.x + size.x, position.y + size.y, position.z + size.z);
|
|
|
|
} break;
|
|
}
|
|
}
|
|
|
|
Variant AABB::intersects_segment_bind(const Vector3 &p_from, const Vector3 &p_to) const {
|
|
Vector3 inters;
|
|
if (intersects_segment(p_from, p_to, &inters)) {
|
|
return inters;
|
|
}
|
|
return Variant();
|
|
}
|
|
Variant AABB::intersects_ray_bind(const Vector3 &p_from, const Vector3 &p_dir) const {
|
|
Vector3 inters;
|
|
if (intersects_ray(p_from, p_dir, &inters)) {
|
|
return inters;
|
|
}
|
|
return Variant();
|
|
}
|
|
|
|
AABB::operator String() const {
|
|
return "[P: " + position.operator String() + ", S: " + size + "]";
|
|
}
|