mirror of
https://github.com/UberGames/GtkRadiant.git
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93060cb634
git-svn-id: svn://svn.icculus.org/gtkradiant/GtkRadiant/trunk@29 8a3a26a2-13c4-0310-b231-cf6edde360e5
331 lines
10 KiB
C++
331 lines
10 KiB
C++
/*
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Copyright (C) 2001-2006, William Joseph.
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All Rights Reserved.
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This file is part of GtkRadiant.
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GtkRadiant is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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GtkRadiant is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with GtkRadiant; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#if !defined(INCLUDED_MATH_AABB_H)
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#define INCLUDED_MATH_AABB_H
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/// \file
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/// \brief Axis-aligned bounding-box data types and related operations.
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#include "math/matrix.h"
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#include "math/plane.h"
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class AABB
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{
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public:
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Vector3 origin, extents;
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AABB() : origin(0, 0, 0), extents(-1,-1,-1)
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{
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}
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AABB(const Vector3& origin_, const Vector3& extents_) :
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origin(origin_), extents(extents_)
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{
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}
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};
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const float c_aabb_max = FLT_MAX;
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inline bool extents_valid(float f)
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{
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return f >= 0.0f && f <= c_aabb_max;
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}
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inline bool origin_valid(float f)
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{
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return f >= -c_aabb_max && f <= c_aabb_max;
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}
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inline bool aabb_valid(const AABB& aabb)
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{
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return origin_valid(aabb.origin[0])
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&& origin_valid(aabb.origin[1])
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&& origin_valid(aabb.origin[2])
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&& extents_valid(aabb.extents[0])
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&& extents_valid(aabb.extents[1])
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&& extents_valid(aabb.extents[2]);
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}
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inline AABB aabb_for_minmax(const Vector3& min, const Vector3& max)
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{
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AABB aabb;
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aabb.origin = vector3_mid(min, max);
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aabb.extents = vector3_subtracted(max, aabb.origin);
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return aabb;
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}
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template<typename Index>
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class AABBExtend
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{
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public:
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static void apply(AABB& aabb, const Vector3& point)
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{
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float displacement = point[Index::VALUE] - aabb.origin[Index::VALUE];
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float half_difference = static_cast<float>(0.5 * (fabs(displacement) - aabb.extents[Index::VALUE]));
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if(half_difference > 0.0f)
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{
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aabb.origin[Index::VALUE] += (displacement >= 0.0f) ? half_difference : -half_difference;
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aabb.extents[Index::VALUE] += half_difference;
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}
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}
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static void apply(AABB& aabb, const AABB& other)
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{
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float displacement = other.origin[Index::VALUE] - aabb.origin[Index::VALUE];
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float difference = other.extents[Index::VALUE] - aabb.extents[Index::VALUE];
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if(fabs(displacement) > fabs(difference))
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{
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float half_difference = static_cast<float>(0.5 * (fabs(displacement) + difference));
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if(half_difference > 0.0f)
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{
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aabb.origin[Index::VALUE] += (displacement >= 0.0f) ? half_difference : -half_difference;
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aabb.extents[Index::VALUE] += half_difference;
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}
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}
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else if(difference > 0.0f)
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{
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aabb.origin[Index::VALUE] = other.origin[Index::VALUE];
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aabb.extents[Index::VALUE] = other.extents[Index::VALUE];
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}
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}
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};
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inline void aabb_extend_by_point(AABB& aabb, const Vector3& point)
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{
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AABBExtend< IntegralConstant<0> >::apply(aabb, point);
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AABBExtend< IntegralConstant<1> >::apply(aabb, point);
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AABBExtend< IntegralConstant<2> >::apply(aabb, point);
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}
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inline void aabb_extend_by_point_safe(AABB& aabb, const Vector3& point)
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{
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if(aabb_valid(aabb))
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{
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aabb_extend_by_point(aabb, point);
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}
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else
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{
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aabb.origin = point;
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aabb.extents = Vector3(0, 0, 0);
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}
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}
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class AABBExtendByPoint
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{
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AABB& m_aabb;
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public:
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AABBExtendByPoint(AABB& aabb) : m_aabb(aabb)
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{
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}
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void operator()(const Vector3& point) const
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{
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aabb_extend_by_point_safe(m_aabb, point);
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}
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};
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inline void aabb_extend_by_aabb(AABB& aabb, const AABB& other)
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{
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AABBExtend< IntegralConstant<0> >::apply(aabb, other);
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AABBExtend< IntegralConstant<1> >::apply(aabb, other);
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AABBExtend< IntegralConstant<2> >::apply(aabb, other);
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}
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inline void aabb_extend_by_aabb_safe(AABB& aabb, const AABB& other)
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{
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if(aabb_valid(aabb) && aabb_valid(other))
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{
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aabb_extend_by_aabb(aabb, other);
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}
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else if(aabb_valid(other))
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{
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aabb = other;
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}
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}
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inline void aabb_extend_by_vec3(AABB& aabb, const Vector3& extension)
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{
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vector3_add(aabb.extents, extension);
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}
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template<typename Index>
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inline bool aabb_intersects_point_dimension(const AABB& aabb, const Vector3& point)
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{
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return fabs(point[Index::VALUE] - aabb.origin[Index::VALUE]) < aabb.extents[Index::VALUE];
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}
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inline bool aabb_intersects_point(const AABB& aabb, const Vector3& point)
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{
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return aabb_intersects_point_dimension< IntegralConstant<0> >(aabb, point)
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&& aabb_intersects_point_dimension< IntegralConstant<1> >(aabb, point)
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&& aabb_intersects_point_dimension< IntegralConstant<2> >(aabb, point);
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}
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template<typename Index>
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inline bool aabb_intersects_aabb_dimension(const AABB& aabb, const AABB& other)
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{
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return fabs(other.origin[Index::VALUE] - aabb.origin[Index::VALUE]) < (aabb.extents[Index::VALUE] + other.extents[Index::VALUE]);
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}
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inline bool aabb_intersects_aabb(const AABB& aabb, const AABB& other)
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{
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return aabb_intersects_aabb_dimension< IntegralConstant<0> >(aabb, other)
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&& aabb_intersects_aabb_dimension< IntegralConstant<1> >(aabb, other)
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&& aabb_intersects_aabb_dimension< IntegralConstant<2> >(aabb, other);
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}
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inline unsigned int aabb_classify_plane(const AABB& aabb, const Plane3& plane)
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{
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double distance_origin = vector3_dot(plane.normal(), aabb.origin) + plane.dist();
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if(fabs(distance_origin) < (fabs(plane.a * aabb.extents[0])
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+ fabs(plane.b * aabb.extents[1])
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+ fabs(plane.c * aabb.extents[2])))
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{
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return 1; // partially inside
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}
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else if (distance_origin < 0)
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{
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return 2; // totally inside
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}
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return 0; // totally outside
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}
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inline unsigned int aabb_oriented_classify_plane(const AABB& aabb, const Matrix4& transform, const Plane3& plane)
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{
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double distance_origin = vector3_dot(plane.normal(), aabb.origin) + plane.dist();
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if(fabs(distance_origin) < (fabs(aabb.extents[0] * vector3_dot(plane.normal(), vector4_to_vector3(transform.x())))
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+ fabs(aabb.extents[1] * vector3_dot(plane.normal(), vector4_to_vector3(transform.y())))
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+ fabs(aabb.extents[2] * vector3_dot(plane.normal(), vector4_to_vector3(transform.z())))))
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{
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return 1; // partially inside
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}
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else if (distance_origin < 0)
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{
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return 2; // totally inside
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}
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return 0; // totally outside
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}
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inline void aabb_corners(const AABB& aabb, Vector3 corners[8])
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{
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Vector3 min(vector3_subtracted(aabb.origin, aabb.extents));
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Vector3 max(vector3_added(aabb.origin, aabb.extents));
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corners[0] = Vector3(min[0], max[1], max[2]);
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corners[1] = Vector3(max[0], max[1], max[2]);
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corners[2] = Vector3(max[0], min[1], max[2]);
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corners[3] = Vector3(min[0], min[1], max[2]);
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corners[4] = Vector3(min[0], max[1], min[2]);
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corners[5] = Vector3(max[0], max[1], min[2]);
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corners[6] = Vector3(max[0], min[1], min[2]);
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corners[7] = Vector3(min[0], min[1], min[2]);
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}
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inline void aabb_corners_oriented(const AABB& aabb, const Matrix4& rotation, Vector3 corners[8])
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{
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Vector3 x = Vector3(rotation.x()) * aabb.extents.x();
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Vector3 y = Vector3(rotation.y()) * aabb.extents.y();
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Vector3 z = Vector3(rotation.z()) * aabb.extents.z();
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corners[0] = aabb.origin + -x + y + z;
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corners[1] = aabb.origin + x + y + z;
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corners[2] = aabb.origin + x + -y + z;
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corners[3] = aabb.origin + -x + -y + z;
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corners[4] = aabb.origin + -x + y + -z;
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corners[5] = aabb.origin + x + y + -z;
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corners[6] = aabb.origin + x + -y + -z;
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corners[7] = aabb.origin + -x + -y + -z;
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}
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inline void aabb_planes(const AABB& aabb, Plane3 planes[6])
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{
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planes[0] = Plane3(g_vector3_axes[0], aabb.origin[0] + aabb.extents[0]);
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planes[1] = Plane3(vector3_negated(g_vector3_axes[0]), -(aabb.origin[0] - aabb.extents[0]));
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planes[2] = Plane3(g_vector3_axes[1], aabb.origin[1] + aabb.extents[1]);
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planes[3] = Plane3(vector3_negated(g_vector3_axes[1]), -(aabb.origin[1] - aabb.extents[1]));
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planes[4] = Plane3(g_vector3_axes[2], aabb.origin[2] + aabb.extents[2]);
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planes[5] = Plane3(vector3_negated(g_vector3_axes[2]), -(aabb.origin[2] - aabb.extents[2]));
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}
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inline void aabb_planes_oriented(const AABB& aabb, const Matrix4& rotation, Plane3 planes[6])
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{
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double x = vector3_dot(Vector3(rotation.x()), aabb.origin);
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double y = vector3_dot(Vector3(rotation.y()), aabb.origin);
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double z = vector3_dot(Vector3(rotation.z()), aabb.origin);
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planes[0] = Plane3(Vector3(rotation.x()), x + aabb.extents[0]);
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planes[1] = Plane3(-Vector3(rotation.x()), -(x - aabb.extents[0]));
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planes[2] = Plane3(Vector3(rotation.y()), y + aabb.extents[1]);
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planes[3] = Plane3(-Vector3(rotation.y()), -(y - aabb.extents[1]));
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planes[4] = Plane3(Vector3(rotation.z()), z + aabb.extents[2]);
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planes[5] = Plane3(-Vector3(rotation.z()), -(z - aabb.extents[2]));
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}
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const Vector3 aabb_normals[6] = {
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Vector3( 1, 0, 0 ),
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Vector3( 0, 1, 0 ),
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Vector3( 0, 0, 1 ),
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Vector3(-1, 0, 0 ),
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Vector3( 0,-1, 0 ),
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Vector3( 0, 0,-1 ),
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};
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const float aabb_texcoord_topleft[2] = { 0, 0 };
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const float aabb_texcoord_topright[2] = { 1, 0 };
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const float aabb_texcoord_botleft[2] = { 0, 1 };
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const float aabb_texcoord_botright[2] = { 1, 1 };
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inline AABB aabb_for_oriented_aabb(const AABB& aabb, const Matrix4& transform)
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{
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return AABB(
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matrix4_transformed_point(transform, aabb.origin),
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Vector3(
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static_cast<float>(fabs(transform[0] * aabb.extents[0])
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+ fabs(transform[4] * aabb.extents[1])
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+ fabs(transform[8] * aabb.extents[2])),
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static_cast<float>(fabs(transform[1] * aabb.extents[0])
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+ fabs(transform[5] * aabb.extents[1])
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+ fabs(transform[9] * aabb.extents[2])),
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static_cast<float>(fabs(transform[2] * aabb.extents[0])
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+ fabs(transform[6] * aabb.extents[1])
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+ fabs(transform[10] * aabb.extents[2]))
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)
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);
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}
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inline AABB aabb_for_oriented_aabb_safe(const AABB& aabb, const Matrix4& transform)
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{
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if(aabb_valid(aabb))
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{
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return aabb_for_oriented_aabb(aabb, transform);
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}
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return aabb;
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}
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inline AABB aabb_infinite()
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{
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return AABB(Vector3(0, 0, 0), Vector3(c_aabb_max, c_aabb_max, c_aabb_max));
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}
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#endif
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