487 lines
12 KiB
C++
487 lines
12 KiB
C++
// Copyright (C) 2007 Id Software, Inc.
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//
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#include "../precompiled.h"
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#pragma hdrstop
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idBounds bounds_zero( vec3_zero, vec3_zero );
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/*
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============
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idBounds::GetRadius
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============
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*/
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float idBounds::GetRadius( void ) const {
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int i;
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float total, b0, b1;
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total = 0.0f;
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for ( i = 0; i < 3; i++ ) {
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b0 = (float)idMath::Fabs( b[0][i] );
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b1 = (float)idMath::Fabs( b[1][i] );
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if ( b0 > b1 ) {
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total += b0 * b0;
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} else {
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total += b1 * b1;
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}
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}
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return idMath::Sqrt( total );
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}
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/*
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============
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idBounds::GetRadius
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============
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*/
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float idBounds::GetRadius( const idVec3 ¢er ) const {
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int i;
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float total, b0, b1;
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total = 0.0f;
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for ( i = 0; i < 3; i++ ) {
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b0 = (float)idMath::Fabs( center[i] - b[0][i] );
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b1 = (float)idMath::Fabs( b[1][i] - center[i] );
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if ( b0 > b1 ) {
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total += b0 * b0;
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} else {
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total += b1 * b1;
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}
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}
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return idMath::Sqrt( total );
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}
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/*
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================
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idBounds::PlaneDistance
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================
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*/
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float idBounds::PlaneDistance( const idPlane &plane ) const {
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idVec3 center;
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float d1, d2;
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center = ( b[0] + b[1] ) * 0.5f;
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d1 = plane.Distance( center );
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d2 = idMath::Fabs( ( b[1][0] - center[0] ) * plane.Normal()[0] ) +
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idMath::Fabs( ( b[1][1] - center[1] ) * plane.Normal()[1] ) +
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idMath::Fabs( ( b[1][2] - center[2] ) * plane.Normal()[2] );
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if ( d1 - d2 > 0.0f ) {
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return d1 - d2;
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}
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if ( d1 + d2 < 0.0f ) {
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return d1 + d2;
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}
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return 0.0f;
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}
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// RAVEN BEGIN
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// jscott: for BSE attenuation
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/*
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================
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idBounds::ShortestDistance
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================
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*/
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float idBounds::ShortestDistance( const idVec3 &point ) const {
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int i;
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float delta, distance;
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if( ContainsPoint( point ) ) {
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return( 0.0f );
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}
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distance = 0.0f;
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for( i = 0; i < 3; i++ ) {
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if( point[i] < b[0][i] ) {
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delta = b[0][i] - point[i];
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distance += delta * delta;
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} else if ( point[i] > b[1][i] ) {
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delta = point[i] - b[1][i];
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distance += delta * delta;
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}
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}
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return( idMath::Sqrt( distance ) );
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}
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// RAVEN END
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/*
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================
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idBounds::PlaneSide
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================
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*/
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int idBounds::PlaneSide( const idPlane &plane, const float epsilon ) const {
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idVec3 center;
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float d1, d2;
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center = ( b[0] + b[1] ) * 0.5f;
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d1 = plane.Distance( center );
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d2 = idMath::Fabs( ( b[1][0] - center[0] ) * plane.Normal()[0] ) +
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idMath::Fabs( ( b[1][1] - center[1] ) * plane.Normal()[1] ) +
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idMath::Fabs( ( b[1][2] - center[2] ) * plane.Normal()[2] );
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if ( d1 - d2 > epsilon ) {
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return PLANESIDE_FRONT;
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}
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if ( d1 + d2 < -epsilon ) {
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return PLANESIDE_BACK;
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}
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return PLANESIDE_CROSS;
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}
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/*
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============
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idBounds::LineIntersection
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Returns true if the line intersects the bounds between the start and end point.
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============
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*/
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bool idBounds::LineIntersection( const idVec3 &start, const idVec3 &end ) const {
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float ld[3];
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idVec3 center = ( b[0] + b[1] ) * 0.5f;
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idVec3 extents = b[1] - center;
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idVec3 lineDir = 0.5f * ( end - start );
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idVec3 lineCenter = start + lineDir;
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idVec3 dir = lineCenter - center;
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ld[0] = idMath::Fabs( lineDir[0] );
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if ( idMath::Fabs( dir[0] ) > extents[0] + ld[0] ) {
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return false;
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}
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ld[1] = idMath::Fabs( lineDir[1] );
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if ( idMath::Fabs( dir[1] ) > extents[1] + ld[1] ) {
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return false;
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}
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ld[2] = idMath::Fabs( lineDir[2] );
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if ( idMath::Fabs( dir[2] ) > extents[2] + ld[2] ) {
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return false;
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}
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idVec3 cross = lineDir.Cross( dir );
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if ( idMath::Fabs( cross[0] ) > extents[1] * ld[2] + extents[2] * ld[1] ) {
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return false;
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}
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if ( idMath::Fabs( cross[1] ) > extents[0] * ld[2] + extents[2] * ld[0] ) {
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return false;
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}
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if ( idMath::Fabs( cross[2] ) > extents[0] * ld[1] + extents[1] * ld[0] ) {
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return false;
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}
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return true;
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}
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/*
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============
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idBounds::RayIntersection
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Returns true if the ray intersects the bounds.
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The ray can intersect the bounds in both directions from the start point.
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If start is inside the bounds it is considered an intersection with scale = 0
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============
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*/
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bool idBounds::RayIntersection( const idVec3 &start, const idVec3 &dir, float &scale ) const {
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int i, ax0, ax1, ax2, side, inside;
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float f;
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idVec3 hit;
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ax0 = -1;
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inside = 0;
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for ( i = 0; i < 3; i++ ) {
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if ( start[i] < b[0][i] ) {
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side = 0;
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}
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else if ( start[i] > b[1][i] ) {
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side = 1;
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}
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else {
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inside++;
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continue;
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}
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if ( dir[i] == 0.0f ) {
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continue;
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}
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f = ( start[i] - b[side][i] );
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if ( ax0 < 0 || idMath::Fabs( f ) > idMath::Fabs( scale * dir[i] ) ) {
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scale = - ( f / dir[i] );
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ax0 = i;
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}
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}
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if ( ax0 < 0 ) {
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scale = 0.0f;
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// return true if the start point is inside the bounds
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return ( inside == 3 );
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}
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ax1 = (ax0+1)%3;
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ax2 = (ax0+2)%3;
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hit[ax1] = start[ax1] + scale * dir[ax1];
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hit[ax2] = start[ax2] + scale * dir[ax2];
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return ( hit[ax1] >= b[0][ax1] && hit[ax1] <= b[1][ax1] &&
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hit[ax2] >= b[0][ax2] && hit[ax2] <= b[1][ax2] );
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}
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/*
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============
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idBounds::FromTransformedBounds
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============
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*/
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void idBounds::FromTransformedBounds( const idBounds &bounds, const idVec3 &origin, const idMat3 &axis ) {
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idVec3 center, extents, rotatedExtents;
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center = ( bounds[ 0 ] + bounds[ 1 ] ) * 0.5f;
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extents = bounds[ 1 ] - center;
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rotatedExtents[ 0 ] = idMath::Fabs( extents[ 0 ] * axis[ 0 ][ 0 ] ) + idMath::Fabs( extents[ 1 ] * axis[ 1 ][ 0 ] ) + idMath::Fabs( extents[ 2 ] * axis[ 2 ][ 0 ] );
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rotatedExtents[ 1 ] = idMath::Fabs( extents[ 0 ] * axis[ 0 ][ 1 ] ) + idMath::Fabs( extents[ 1 ] * axis[ 1 ][ 1 ] ) + idMath::Fabs( extents[ 2 ] * axis[ 2 ][ 1 ] );
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rotatedExtents[ 2 ] = idMath::Fabs( extents[ 0 ] * axis[ 0 ][ 2 ] ) + idMath::Fabs( extents[ 1 ] * axis[ 1 ][ 2 ] ) + idMath::Fabs( extents[ 2 ] * axis[ 2 ][ 2 ] );
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center = origin + center * axis;
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b[ 0 ] = center - rotatedExtents;
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b[ 1 ] = center + rotatedExtents;
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}
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/*
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============
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idBounds::FromTransformedBounds
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============
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*/
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void idBounds::FromTransformedBounds( const idBounds &bounds, const float matrix[16] ) {
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idVec3 center, extents, rotatedExtents, rotatedCenter;
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center = ( bounds[ 0 ] + bounds[ 1 ] ) * 0.5f;
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extents = bounds[ 1 ] - center;
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rotatedExtents[ 0 ] = idMath::Fabs( extents[ 0 ] * matrix[ 0 ] ) + idMath::Fabs( extents[ 1 ] * matrix[ 4 ] ) + idMath::Fabs( extents[ 2 ] * matrix[ 8 ] );
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rotatedExtents[ 1 ] = idMath::Fabs( extents[ 0 ] * matrix[ 1 ] ) + idMath::Fabs( extents[ 1 ] * matrix[ 5 ] ) + idMath::Fabs( extents[ 2 ] * matrix[ 9 ] );
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rotatedExtents[ 2 ] = idMath::Fabs( extents[ 0 ] * matrix[ 2 ] ) + idMath::Fabs( extents[ 1 ] * matrix[ 6 ] ) + idMath::Fabs( extents[ 2 ] * matrix[ 10 ] );
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rotatedCenter[ 0 ] = center[ 0 ] * matrix[ 0 ] + center[ 1 ] * matrix[ 4 ] + center[ 2 ] * matrix[ 8 ];
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rotatedCenter[ 1 ] = center[ 0 ] * matrix[ 1 ] + center[ 1 ] * matrix[ 5 ] + center[ 2 ] * matrix[ 9 ];
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rotatedCenter[ 2 ] = center[ 0 ] * matrix[ 2 ] + center[ 1 ] * matrix[ 6 ] + center[ 2 ] * matrix[ 10 ];
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idVec3 origin( matrix[12], matrix[13], matrix[14] );
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center = origin + rotatedCenter;
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b[ 0 ] = center - rotatedExtents;
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b[ 1 ] = center + rotatedExtents;
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}
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/*
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============
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idBounds::FromPoints
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Most tight bounds for a point set.
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============
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*/
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void idBounds::FromPoints( const idVec3 *points, const int numPoints ) {
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SIMDProcessor->MinMax( b[0], b[1], points, numPoints );
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}
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/*
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============
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idBounds::FromPointTranslation
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Most tight bounds for the translational movement of the given point.
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============
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*/
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void idBounds::FromPointTranslation( const idVec3 &point, const idVec3 &translation ) {
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int i;
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for ( i = 0; i < 3; i++ ) {
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if ( translation[i] < 0.0f ) {
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b[0][i] = point[i] + translation[i];
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b[1][i] = point[i];
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}
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else {
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b[0][i] = point[i];
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b[1][i] = point[i] + translation[i];
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}
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}
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}
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/*
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============
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idBounds::FromBoundsTranslation
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Most tight bounds for the translational movement of the given bounds.
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============
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*/
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void idBounds::FromBoundsTranslation( const idBounds &bounds, const idVec3 &origin, const idMat3 &axis, const idVec3 &translation ) {
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int i;
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if ( axis.IsRotated() ) {
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FromTransformedBounds( bounds, origin, axis );
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}
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else {
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b[0] = bounds[0] + origin;
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b[1] = bounds[1] + origin;
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}
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for ( i = 0; i < 3; i++ ) {
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if ( translation[i] < 0.0f ) {
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b[0][i] += translation[i];
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}
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else {
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b[1][i] += translation[i];
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}
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}
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}
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/*
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================
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BoundsForPointRotation
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only for rotations < 180 degrees
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================
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*/
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idBounds BoundsForPointRotation( const idVec3 &start, const idRotation &rotation ) {
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int i;
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float radiusSqr;
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idVec3 v1, v2;
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idVec3 origin, axis, end;
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idBounds bounds;
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end = start * rotation;
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axis = rotation.GetVec();
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origin = rotation.GetOrigin() + axis * ( axis * ( start - rotation.GetOrigin() ) );
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radiusSqr = ( start - origin ).LengthSqr();
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v1 = ( start - origin ).Cross( axis );
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v2 = ( end - origin ).Cross( axis );
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for ( i = 0; i < 3; i++ ) {
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// if the derivative changes sign along this axis during the rotation from start to end
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if ( ( v1[i] > 0.0f && v2[i] < 0.0f ) || ( v1[i] < 0.0f && v2[i] > 0.0f ) ) {
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if ( ( 0.5f * (start[i] + end[i]) - origin[i] ) > 0.0f ) {
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bounds[0][i] = Min( start[i], end[i] );
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bounds[1][i] = origin[i] + idMath::Sqrt( radiusSqr * ( 1.0f - axis[i] * axis[i] ) );
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}
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else {
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bounds[0][i] = origin[i] - idMath::Sqrt( radiusSqr * ( 1.0f - axis[i] * axis[i] ) );
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bounds[1][i] = Max( start[i], end[i] );
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}
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}
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else if ( start[i] > end[i] ) {
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bounds[0][i] = end[i];
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bounds[1][i] = start[i];
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}
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else {
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bounds[0][i] = start[i];
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bounds[1][i] = end[i];
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}
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}
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return bounds;
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}
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/*
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============
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idBounds::FromPointRotation
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Most tight bounds for the rotational movement of the given point.
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============
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*/
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void idBounds::FromPointRotation( const idVec3 &point, const idRotation &rotation ) {
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float radius;
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if ( idMath::Fabs( rotation.GetAngle() ) < 180.0f ) {
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(*this) = BoundsForPointRotation( point, rotation );
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} else {
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radius = ( point - rotation.GetOrigin() ).Length();
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// FIXME: these bounds are usually way larger
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b[ 0 ] = rotation.GetOrigin() + idVec3( -radius, -radius, -radius );
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b[ 1 ]= rotation.GetOrigin() + idVec3( radius, radius, radius );
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}
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}
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/*
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============
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idBounds::FromBoundsRotation
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Most tight bounds for the rotational movement of the given bounds.
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============
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*/
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void idBounds::FromBoundsRotation( const idBounds &bounds, const idVec3 &origin, const idMat3 &axis, const idRotation &rotation ) {
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int i;
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float radius;
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idVec3 point;
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idBounds rBounds;
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if ( idMath::Fabs( rotation.GetAngle() ) < 180.0f ) {
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(*this) = BoundsForPointRotation( bounds[0] * axis + origin, rotation );
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for ( i = 1; i < 8; i++ ) {
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point[0] = bounds[(i^(i>>1))&1][0];
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point[1] = bounds[(i>>1)&1][1];
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point[2] = bounds[(i>>2)&1][2];
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(*this) += BoundsForPointRotation( point * axis + origin, rotation );
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}
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}
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else {
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point = (bounds[1] - bounds[0]) * 0.5f;
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radius = (bounds[1] - point).Length() + (origin + ( point * axis ) - rotation.GetOrigin()).Length();
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// FIXME: these bounds are usually way larger
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b[ 0 ] = rotation.GetOrigin() + idVec3( -radius, -radius, -radius );
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b[ 1 ] = rotation.GetOrigin() + idVec3( radius, radius, radius );
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}
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}
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/*
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============
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idBounds::ToPoints
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============
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*/
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void idBounds::ToPoints( idVec3 points[8] ) const {
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for ( int i = 0; i < 8; i++ ) {
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points[i][0] = b[(i^(i>>1))&1][0];
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points[i][1] = b[(i>>1)&1][1];
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points[i][2] = b[(i>>2)&1][2];
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}
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}
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/*
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============
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idBounds::ToString
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============
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*/
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const char *idBounds::ToString( int precision ) const {
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return idStr::FloatArrayToString( ToFloatPtr(), GetDimension(), precision );
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}
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/*
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============
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idBounds::ToPlanes
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planes point outwards
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============
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*/
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void idBounds::ToPlanes( idPlane planes[6] ) const {
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planes[0].SetNormal( idVec3( 0.0f, 0.0f, 1.0f ) );
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planes[0].FitThroughPoint( b[1] );
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planes[1].SetNormal( idVec3( 0.0f, 0.0f, -1.0f ) );
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planes[1].FitThroughPoint( b[0] );
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planes[2].SetNormal( idVec3( 0.0f, 1.0f, 0.0f ) );
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planes[2].FitThroughPoint( b[1] );
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planes[3].SetNormal( idVec3( 0.0f, -1.0f, 0.0f ) );
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planes[3].FitThroughPoint( b[0] );
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planes[4].SetNormal( idVec3( 1.0f, 0.0f, 0.0f ) );
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planes[4].FitThroughPoint( b[1] );
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planes[5].SetNormal( idVec3( -1.0f, 0.0f, 0.0f ) );
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planes[5].FitThroughPoint( b[0] );
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}
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