OPCODE/OPC_RayAABBOverlap.h

   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 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  15 inline_ 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 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  40 inline_ 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 }