mirror of
https://github.com/godotengine/godot
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b35264ad95
* Separates find_intersects from test_intersects for rays, and wraps the former. * Changes parameter name to "r_intersection_point". * Fixes broken old version which returned per axis t. * Returns whether the ray origin is within the AABB. * Returns intersection point when origin outside. * Returns "backtracking" intersection point when inside. * Returns sensible normal when inside. * Returns valid results on borders. * Returns robust results dealing with floating point error. Co-authored-by: Claire Blackshaw <evilkimau@gmail.com>
450 lines
13 KiB
C++
450 lines
13 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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// Note that this routine returns the BACKTRACKED (i.e. behind the ray origin)
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// intersection point + normal if INSIDE the AABB.
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// The caller can therefore decide when INSIDE whether to use the
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// backtracked intersection, or use p_from as the intersection, and
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// carry on progressing without e.g. reflecting against the normal.
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bool AABB::find_intersects_ray(const Vector3 &p_from, const Vector3 &p_dir, bool &r_inside, Vector3 *r_intersection_point, 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 end = position + size;
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real_t tmin = -1e20;
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real_t tmax = 1e20;
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int axis = 0;
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// Make sure r_inside is always initialized,
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// to prevent reading uninitialized data in the client code.
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r_inside = false;
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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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real_t t1 = (position[i] - p_from[i]) / p_dir[i];
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real_t t2 = (end[i] - p_from[i]) / p_dir[i];
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if (t1 > t2) {
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SWAP(t1, t2);
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}
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if (t1 >= tmin) {
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tmin = t1;
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axis = i;
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}
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if (t2 < tmax) {
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if (t2 < 0) {
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return false;
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}
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tmax = t2;
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}
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if (tmin > tmax) {
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return false;
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}
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}
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}
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// Did the ray start from inside the box?
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// In which case the intersection returned is the point of entry
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// (behind the ray start) or the calling routine can use the ray origin as intersection point.
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r_inside = tmin < 0;
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if (r_intersection_point) {
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*r_intersection_point = p_from + p_dir * tmin;
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// Prevent float error by making sure the point is exactly
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// on the AABB border on the relevant axis.
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r_intersection_point->coord[axis] = (p_dir[axis] >= 0) ? position.coord[axis] : end.coord[axis];
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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] >= 0) ? -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_intersection_point, 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_intersection_point) {
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*r_intersection_point = 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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bool inside = false;
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if (find_intersects_ray(p_from, p_dir, inside, &inters)) {
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// When inside the intersection point may be BEHIND the ray,
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// so for general use we return the ray origin.
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if (inside) {
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return p_from;
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}
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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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