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480 lines
19 KiB
C++
480 lines
19 KiB
C++
//
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// AACube.cpp
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// libraries/octree/src
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//
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// Created by Brad Hefta-Gaub on 04/11/13.
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// Copyright 2013 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#include <glm/gtx/extented_min_max.hpp>
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#include "AABox.h"
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#include "AACube.h"
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#include "Extents.h"
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#include "GeometryUtil.h"
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#include "NumericalConstants.h"
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AACube::AACube(const AABox& other) :
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_corner(other.getCorner()), _scale(other.getLargestDimension()) {
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}
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AACube::AACube(const Extents& other) :
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_corner(other.minimum)
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{
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glm::vec3 dimensions = other.maximum - other.minimum;
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_scale = glm::max(dimensions.x, dimensions.y, dimensions.z);
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}
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AACube::AACube(const glm::vec3& corner, float size) :
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_corner(corner), _scale(size) {
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};
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AACube::AACube() : _corner(0,0,0), _scale(0) {
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};
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glm::vec3 AACube::calcCenter() const {
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glm::vec3 center(_corner);
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center += (glm::vec3(_scale, _scale, _scale) * 0.5f);
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return center;
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}
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glm::vec3 AACube::calcTopFarLeft() const {
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glm::vec3 topFarLeft(_corner);
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topFarLeft += glm::vec3(_scale, _scale, _scale);
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return topFarLeft;
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};
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void AACube::scale(float scale) {
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_corner = _corner * scale;
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_scale = _scale * scale;
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}
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glm::vec3 AACube::getVertex(BoxVertex vertex) const {
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switch (vertex) {
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case BOTTOM_LEFT_NEAR:
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return _corner + glm::vec3(_scale, 0, 0);
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case BOTTOM_RIGHT_NEAR:
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return _corner;
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case TOP_RIGHT_NEAR:
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return _corner + glm::vec3(0, _scale, 0);
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case TOP_LEFT_NEAR:
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return _corner + glm::vec3(_scale, _scale, 0);
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case BOTTOM_LEFT_FAR:
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return _corner + glm::vec3(_scale, 0, _scale);
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case BOTTOM_RIGHT_FAR:
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return _corner + glm::vec3(0, 0, _scale);
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case TOP_RIGHT_FAR:
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return _corner + glm::vec3(0, _scale, _scale);
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default: //quiet windows warnings
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case TOP_LEFT_FAR:
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return _corner + glm::vec3(_scale, _scale, _scale);
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}
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}
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void AACube::setBox(const glm::vec3& corner, float scale) {
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_corner = corner;
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_scale = scale;
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}
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glm::vec3 AACube::getVertexP(const glm::vec3& normal) const {
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glm::vec3 result = _corner;
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if (normal.x > 0) {
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result.x += _scale;
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}
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if (normal.y > 0) {
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result.y += _scale;
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}
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if (normal.z > 0) {
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result.z += _scale;
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}
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return result;
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}
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glm::vec3 AACube::getVertexN(const glm::vec3& normal) const {
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glm::vec3 result = _corner;
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if (normal.x < 0) {
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result.x += _scale;
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}
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if (normal.y < 0) {
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result.y += _scale;
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}
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if (normal.z < 0) {
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result.z += _scale;
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}
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return result;
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}
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// determines whether a value is within the extents
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static bool isWithin(float value, float corner, float size) {
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return value >= corner && value <= corner + size;
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}
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bool AACube::contains(const glm::vec3& point) const {
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return isWithin(point.x, _corner.x, _scale) &&
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isWithin(point.y, _corner.y, _scale) &&
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isWithin(point.z, _corner.z, _scale);
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}
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bool AACube::contains(const AACube& otherCube) const {
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for (int v = BOTTOM_LEFT_NEAR; v < TOP_LEFT_FAR; v++) {
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glm::vec3 vertex = otherCube.getVertex((BoxVertex)v);
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if (!contains(vertex)) {
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return false;
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}
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}
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return true;
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}
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bool AACube::touches(const AACube& otherCube) const {
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glm::vec3 relativeCenter = _corner - otherCube._corner + (glm::vec3(_scale - otherCube._scale) * 0.5f);
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float totalHalfScale = 0.5f * (_scale + otherCube._scale);
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return fabsf(relativeCenter.x) <= totalHalfScale &&
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fabsf(relativeCenter.y) <= totalHalfScale &&
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fabsf(relativeCenter.z) <= totalHalfScale;
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}
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bool AACube::contains(const AABox& otherBox) const {
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for (int v = BOTTOM_LEFT_NEAR; v < TOP_LEFT_FAR; v++) {
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glm::vec3 vertex = otherBox.getVertex((BoxVertex)v);
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if (!contains(vertex)) {
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return false;
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}
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}
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return true;
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}
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bool AACube::touches(const AABox& otherBox) const {
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glm::vec3 myDimensions = glm::vec3(_scale);
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glm::vec3 relativeCenter = _corner - otherBox.getCorner() + ((myDimensions - otherBox.getScale()) * 0.5f);
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glm::vec3 totalHalfScale = (myDimensions + otherBox.getDimensions()) * 0.5f;
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return fabsf(relativeCenter.x) <= totalHalfScale.x &&
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fabsf(relativeCenter.y) <= totalHalfScale.y &&
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fabsf(relativeCenter.z) <= totalHalfScale.z;
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}
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// determines whether a value is within the expanded extents
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static bool isWithinExpanded(float value, float corner, float size, float expansion) {
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return value >= corner - expansion && value <= corner + size + expansion;
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}
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bool AACube::expandedContains(const glm::vec3& point, float expansion) const {
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return isWithinExpanded(point.x, _corner.x, _scale, expansion) &&
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isWithinExpanded(point.y, _corner.y, _scale, expansion) &&
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isWithinExpanded(point.z, _corner.z, _scale, expansion);
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}
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// finds the intersection between a ray and the facing plane on one axis
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static bool findIntersection(float origin, float direction, float corner, float size, float& distance) {
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if (direction > EPSILON) {
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distance = (corner - origin) / direction;
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return true;
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} else if (direction < -EPSILON) {
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distance = (corner + size - origin) / direction;
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return true;
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}
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return false;
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}
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// finds the intersection between a ray and the inside facing plane on one axis
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static bool findInsideOutIntersection(float origin, float direction, float corner, float size, float& distance) {
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if (direction > EPSILON) {
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distance = -1.0f * (origin - (corner + size)) / direction;
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return true;
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} else if (direction < -EPSILON) {
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distance = -1.0f * (origin - corner) / direction;
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return true;
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}
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return false;
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}
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bool AACube::expandedIntersectsSegment(const glm::vec3& start, const glm::vec3& end, float expansion) const {
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// handle the trivial cases where the expanded box contains the start or end
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if (expandedContains(start, expansion) || expandedContains(end, expansion)) {
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return true;
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}
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// check each axis
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glm::vec3 expandedCorner = _corner - glm::vec3(expansion, expansion, expansion);
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glm::vec3 expandedSize = glm::vec3(_scale, _scale, _scale) + glm::vec3(expansion, expansion, expansion) * 2.0f;
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glm::vec3 direction = end - start;
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float axisDistance;
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return (findIntersection(start.x, direction.x, expandedCorner.x, expandedSize.x, axisDistance) &&
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axisDistance >= 0.0f && axisDistance <= 1.0f &&
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isWithin(start.y + axisDistance*direction.y, expandedCorner.y, expandedSize.y) &&
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isWithin(start.z + axisDistance*direction.z, expandedCorner.z, expandedSize.z)) ||
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(findIntersection(start.y, direction.y, expandedCorner.y, expandedSize.y, axisDistance) &&
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axisDistance >= 0.0f && axisDistance <= 1.0f &&
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isWithin(start.x + axisDistance*direction.x, expandedCorner.x, expandedSize.x) &&
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isWithin(start.z + axisDistance*direction.z, expandedCorner.z, expandedSize.z)) ||
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(findIntersection(start.z, direction.z, expandedCorner.z, expandedSize.z, axisDistance) &&
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axisDistance >= 0.0f && axisDistance <= 1.0f &&
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isWithin(start.y + axisDistance*direction.y, expandedCorner.y, expandedSize.y) &&
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isWithin(start.x + axisDistance*direction.x, expandedCorner.x, expandedSize.x));
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}
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bool AACube::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance,
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BoxFace& face, glm::vec3& surfaceNormal) const {
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// handle the trivial case where the box contains the origin
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if (contains(origin)) {
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// We still want to calculate the distance from the origin to the inside out plane
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float axisDistance;
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if ((findInsideOutIntersection(origin.x, direction.x, _corner.x, _scale, axisDistance) && axisDistance >= 0 &&
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isWithin(origin.y + axisDistance*direction.y, _corner.y, _scale) &&
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isWithin(origin.z + axisDistance*direction.z, _corner.z, _scale))) {
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distance = axisDistance;
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face = direction.x > 0 ? MAX_X_FACE : MIN_X_FACE;
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surfaceNormal = glm::vec3(direction.x > 0 ? 1.0f : -1.0f, 0.0f, 0.0f);
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return true;
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}
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if ((findInsideOutIntersection(origin.y, direction.y, _corner.y, _scale, axisDistance) && axisDistance >= 0 &&
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isWithin(origin.x + axisDistance*direction.x, _corner.x, _scale) &&
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isWithin(origin.z + axisDistance*direction.z, _corner.z, _scale))) {
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distance = axisDistance;
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face = direction.y > 0 ? MAX_Y_FACE : MIN_Y_FACE;
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surfaceNormal = glm::vec3(0.0f, direction.y > 0 ? 1.0f : -1.0f, 0.0f);
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return true;
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}
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if ((findInsideOutIntersection(origin.z, direction.z, _corner.z, _scale, axisDistance) && axisDistance >= 0 &&
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isWithin(origin.y + axisDistance*direction.y, _corner.y, _scale) &&
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isWithin(origin.x + axisDistance*direction.x, _corner.x, _scale))) {
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distance = axisDistance;
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face = direction.z > 0 ? MAX_Z_FACE : MIN_Z_FACE;
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surfaceNormal = glm::vec3(0.0f, 0.0f, direction.z > 0 ? 1.0f : -1.0f);
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return true;
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}
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// This case is unexpected, but mimics the previous behavior for inside out intersections
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distance = 0;
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return true;
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}
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// check each axis
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float axisDistance;
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if ((findIntersection(origin.x, direction.x, _corner.x, _scale, axisDistance) && axisDistance >= 0 &&
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isWithin(origin.y + axisDistance*direction.y, _corner.y, _scale) &&
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isWithin(origin.z + axisDistance*direction.z, _corner.z, _scale))) {
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distance = axisDistance;
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face = direction.x > 0 ? MIN_X_FACE : MAX_X_FACE;
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surfaceNormal = glm::vec3(direction.x > 0 ? -1.0f : 1.0f, 0.0f, 0.0f);
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return true;
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}
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if ((findIntersection(origin.y, direction.y, _corner.y, _scale, axisDistance) && axisDistance >= 0 &&
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isWithin(origin.x + axisDistance*direction.x, _corner.x, _scale) &&
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isWithin(origin.z + axisDistance*direction.z, _corner.z, _scale))) {
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distance = axisDistance;
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face = direction.y > 0 ? MIN_Y_FACE : MAX_Y_FACE;
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surfaceNormal = glm::vec3(0.0f, direction.y > 0 ? -1.0f : 1.0f, 0.0f);
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return true;
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}
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if ((findIntersection(origin.z, direction.z, _corner.z, _scale, axisDistance) && axisDistance >= 0 &&
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isWithin(origin.y + axisDistance*direction.y, _corner.y, _scale) &&
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isWithin(origin.x + axisDistance*direction.x, _corner.x, _scale))) {
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distance = axisDistance;
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face = direction.z > 0 ? MIN_Z_FACE : MAX_Z_FACE;
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surfaceNormal = glm::vec3(0.0f, 0.0f, direction.z > 0 ? -1.0f : 1.0f);
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return true;
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}
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return false;
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}
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bool AACube::findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration) const {
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glm::vec4 center4 = glm::vec4(center, 1.0f);
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float minPenetrationLength = FLT_MAX;
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for (int i = 0; i < FACE_COUNT; i++) {
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glm::vec4 facePlane = getPlane((BoxFace)i);
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glm::vec3 vector = getClosestPointOnFace(center, (BoxFace)i) - center;
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if (glm::dot(center4, getPlane((BoxFace)i)) >= 0.0f) {
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// outside this face, so use vector to closest point to determine penetration
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return ::findSpherePenetration(vector, glm::vec3(-facePlane), radius, penetration);
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}
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float vectorLength = glm::length(vector);
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if (vectorLength < minPenetrationLength) {
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// remember the smallest penetration vector; if we're inside all faces, we'll use that
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penetration = (vectorLength < EPSILON) ? glm::vec3(-facePlane) * radius :
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vector * ((vectorLength + radius) / -vectorLength);
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minPenetrationLength = vectorLength;
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}
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}
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return true;
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}
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bool AACube::findCapsulePenetration(const glm::vec3& start, const glm::vec3& end, float radius, glm::vec3& penetration) const {
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glm::vec4 start4 = glm::vec4(start, 1.0f);
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glm::vec4 end4 = glm::vec4(end, 1.0f);
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glm::vec4 startToEnd = glm::vec4(end - start, 0.0f);
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float minPenetrationLength = FLT_MAX;
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for (int i = 0; i < FACE_COUNT; i++) {
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// find the vector from the segment to the closest point on the face (starting from deeper end)
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glm::vec4 facePlane = getPlane((BoxFace)i);
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glm::vec3 closest = (glm::dot(start4, facePlane) <= glm::dot(end4, facePlane)) ?
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getClosestPointOnFace(start4, startToEnd, (BoxFace)i) : getClosestPointOnFace(end4, -startToEnd, (BoxFace)i);
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glm::vec3 vector = -computeVectorFromPointToSegment(closest, start, end);
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if (glm::dot(vector, glm::vec3(facePlane)) < 0.0f) {
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// outside this face, so use vector to closest point to determine penetration
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return ::findSpherePenetration(vector, glm::vec3(-facePlane), radius, penetration);
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}
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float vectorLength = glm::length(vector);
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if (vectorLength < minPenetrationLength) {
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// remember the smallest penetration vector; if we're inside all faces, we'll use that
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penetration = (vectorLength < EPSILON) ? glm::vec3(-facePlane) * radius :
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vector * ((vectorLength + radius) / -vectorLength);
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minPenetrationLength = vectorLength;
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}
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}
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return true;
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}
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glm::vec3 AACube::getClosestPointOnFace(const glm::vec3& point, BoxFace face) const {
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switch (face) {
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case MIN_X_FACE:
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return glm::clamp(point, glm::vec3(_corner.x, _corner.y, _corner.z),
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glm::vec3(_corner.x, _corner.y + _scale, _corner.z + _scale));
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case MAX_X_FACE:
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return glm::clamp(point, glm::vec3(_corner.x + _scale, _corner.y, _corner.z),
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glm::vec3(_corner.x + _scale, _corner.y + _scale, _corner.z + _scale));
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case MIN_Y_FACE:
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return glm::clamp(point, glm::vec3(_corner.x, _corner.y, _corner.z),
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glm::vec3(_corner.x + _scale, _corner.y, _corner.z + _scale));
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case MAX_Y_FACE:
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return glm::clamp(point, glm::vec3(_corner.x, _corner.y + _scale, _corner.z),
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glm::vec3(_corner.x + _scale, _corner.y + _scale, _corner.z + _scale));
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case MIN_Z_FACE:
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return glm::clamp(point, glm::vec3(_corner.x, _corner.y, _corner.z),
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glm::vec3(_corner.x + _scale, _corner.y + _scale, _corner.z));
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default: //quiet windows warnings
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case MAX_Z_FACE:
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return glm::clamp(point, glm::vec3(_corner.x, _corner.y, _corner.z + _scale),
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glm::vec3(_corner.x + _scale, _corner.y + _scale, _corner.z + _scale));
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}
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}
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glm::vec3 AACube::getClosestPointOnFace(const glm::vec4& origin, const glm::vec4& direction, BoxFace face) const {
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// check against the four planes that border the face
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BoxFace oppositeFace = getOppositeFace(face);
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bool anyOutside = false;
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for (int i = 0; i < FACE_COUNT; i++) {
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if (i == face || i == oppositeFace) {
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continue;
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}
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glm::vec4 iPlane = getPlane((BoxFace)i);
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float originDistance = glm::dot(origin, iPlane);
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if (originDistance < 0.0f) {
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continue; // inside the border
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}
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anyOutside = true;
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float divisor = glm::dot(direction, iPlane);
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if (fabsf(divisor) < EPSILON) {
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continue; // segment is parallel to plane
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}
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// find intersection and see if it lies within face bounds
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float directionalDistance = -originDistance / divisor;
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glm::vec4 intersection = origin + direction * directionalDistance;
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BoxFace iOppositeFace = getOppositeFace((BoxFace)i);
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for (int j = 0; j < FACE_COUNT; j++) {
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if (j == face || j == oppositeFace || j == i || j == iOppositeFace) {
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continue;
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}
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if (glm::dot(intersection, getPlane((BoxFace)j)) > 0.0f) {
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goto outerContinue; // intersection is out of bounds
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}
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}
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return getClosestPointOnFace(glm::vec3(intersection), face);
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outerContinue: ;
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}
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// if we were outside any of the sides, we must check against the diagonals
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if (anyOutside) {
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int faceAxis = face / 2;
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int secondAxis = (faceAxis + 1) % 3;
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int thirdAxis = (faceAxis + 2) % 3;
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glm::vec4 secondAxisMinPlane = getPlane((BoxFace)(secondAxis * 2));
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glm::vec4 secondAxisMaxPlane = getPlane((BoxFace)(secondAxis * 2 + 1));
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glm::vec4 thirdAxisMaxPlane = getPlane((BoxFace)(thirdAxis * 2 + 1));
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glm::vec4 offset = glm::vec4(0.0f, 0.0f, 0.0f,
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glm::dot(glm::vec3(secondAxisMaxPlane + thirdAxisMaxPlane), glm::vec3(_scale, _scale, _scale)) * 0.5f);
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glm::vec4 diagonals[] = { secondAxisMinPlane + thirdAxisMaxPlane + offset,
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secondAxisMaxPlane + thirdAxisMaxPlane + offset };
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|
|
|
float minDistance = FLT_MAX;
|
|
for (size_t i = 0; i < sizeof(diagonals) / sizeof(diagonals[0]); i++) {
|
|
float divisor = glm::dot(direction, diagonals[i]);
|
|
if (fabsf(divisor) < EPSILON) {
|
|
continue; // segment is parallel to diagonal plane
|
|
}
|
|
minDistance = glm::min(-glm::dot(origin, diagonals[i]) / divisor, minDistance);
|
|
}
|
|
if (minDistance != FLT_MAX) {
|
|
return getClosestPointOnFace(glm::vec3(origin + direction * minDistance), face);
|
|
}
|
|
}
|
|
|
|
// last resort or all inside: clamp origin to face
|
|
return getClosestPointOnFace(glm::vec3(origin), face);
|
|
}
|
|
|
|
glm::vec4 AACube::getPlane(BoxFace face) const {
|
|
switch (face) {
|
|
case MIN_X_FACE: return glm::vec4(-1.0f, 0.0f, 0.0f, _corner.x);
|
|
case MAX_X_FACE: return glm::vec4(1.0f, 0.0f, 0.0f, -_corner.x - _scale);
|
|
case MIN_Y_FACE: return glm::vec4(0.0f, -1.0f, 0.0f, _corner.y);
|
|
case MAX_Y_FACE: return glm::vec4(0.0f, 1.0f, 0.0f, -_corner.y - _scale);
|
|
case MIN_Z_FACE: return glm::vec4(0.0f, 0.0f, -1.0f, _corner.z);
|
|
default: //quiet windows warnings
|
|
case MAX_Z_FACE: return glm::vec4(0.0f, 0.0f, 1.0f, -_corner.z - _scale);
|
|
}
|
|
}
|
|
|
|
BoxFace AACube::getOppositeFace(BoxFace face) {
|
|
switch (face) {
|
|
case MIN_X_FACE: return MAX_X_FACE;
|
|
case MAX_X_FACE: return MIN_X_FACE;
|
|
case MIN_Y_FACE: return MAX_Y_FACE;
|
|
case MAX_Y_FACE: return MIN_Y_FACE;
|
|
case MIN_Z_FACE: return MAX_Z_FACE;
|
|
default: //quiet windows warnings
|
|
case MAX_Z_FACE: return MIN_Z_FACE;
|
|
}
|
|
}
|
|
|
|
AABox AACube::clamp(const glm::vec3& min, const glm::vec3& max) const {
|
|
AABox temp(*this);
|
|
return temp.clamp(min, max);
|
|
}
|
|
|
|
AABox AACube::clamp(float min, float max) const {
|
|
AABox temp(*this);
|
|
return temp.clamp(min, max);
|
|
}
|
|
|
|
AACube& AACube::operator += (const glm::vec3& point) {
|
|
glm::vec3 oldMaximumPoint = getMaximumPoint();
|
|
_corner = glm::vec3(glm::min(_corner.x, point.x),
|
|
glm::min(_corner.y, point.y),
|
|
glm::min(_corner.z, point.z));
|
|
|
|
glm::vec3 scaleOld = oldMaximumPoint - _corner;
|
|
glm::vec3 scalePoint = point - _corner;
|
|
_scale = glm::max(_scale, scalePoint.x, scalePoint.y, scalePoint.z);
|
|
_scale = glm::max(_scale, scaleOld.x, scaleOld.y, scaleOld.z);
|
|
|
|
return (*this);
|
|
}
|