-#include <algorithm>
+#include <stdlib.h>
#include <float.h>
+#include <algorithm>
#include "geom.h"
+#include "app.h"
#define SPHERE(ptr) ((Sphere*)ptr)
#define AABOX(ptr) ((AABox*)ptr)
{
}
+bool GeomObject::valid() const
+{
+ return true;
+}
+
+void GeomObject::invalidate()
+{
+}
+
+float GeomObject::distance(const Vec3 &v) const
+{
+ return sqrt(distance_sq(v));
+}
+
+float GeomObject::signed_distance(const Vec3 &v) const
+{
+ return sqrt(signed_distance_sq(v));
+}
Sphere::Sphere()
{
this->radius = radius;
}
+bool Sphere::valid() const
+{
+ return radius >= 0.0f;
+}
+
+void Sphere::invalidate()
+{
+ center = Vec3(0, 0, 0);
+ radius = -1;
+}
+
bool Sphere::intersect(const Ray &ray, HitPoint *hit) const
{
float a = dot(ray.dir, ray.dir);
return length_sq(pt - center) <= radius * radius;
}
-float Sphere::distance(const Vec3 &v) const
+float Sphere::distance_sq(const Vec3 &v) const
{
- return std::max(length(v - center) - radius, 0.0f);
+ return std::max(length_sq(v - center) - radius * radius, 0.0f);
}
-float Sphere::signed_distance(const Vec3 &v) const
+float Sphere::signed_distance_sq(const Vec3 &v) const
{
- return length(v - center) - radius;
+ return length_sq(v - center) - radius * radius;
}
AABox::AABox()
type = GOBJ_AABOX;
}
+bool AABox::valid() const
+{
+ return min.x <= max.x && min.y <= max.y && min.z <= max.z;
+}
+
+void AABox::invalidate()
+{
+ min = Vec3(FLT_MAX, FLT_MAX, FLT_MAX);
+ max = Vec3(-FLT_MAX, -FLT_MAX, -FLT_MAX);
+}
+
Vec3 AABox::get_corner(int idx) const
{
- static const Vec3 v[] = {
- Vec3(-0.5, -0.5, -0.5), Vec3(0.5, -0.5, -0.5), Vec3(0.5, -0.5, 0.5), Vec3(-0.5, -0.5, 0.5),
- Vec3(-0.5, 0.5, -0.5), Vec3(0.5, 0.5, -0.5), Vec3(0.5, 0.5, 0.5), Vec3(-0.5, 0.5, 0.5)
- };
- return v[idx] * Vec3(max - min);
+ Vec3 v[] = {min, max};
+ static const int xidx[] = {0, 1, 1, 0, 0, 1, 1, 0};
+ static const int yidx[] = {0, 0, 0, 0, 1, 1, 1, 1};
+ static const int zidx[] = {0, 0, 1, 1, 0, 0, 1, 1};
+ return Vec3(v[xidx[idx]].x, v[yidx[idx]].y, v[zidx[idx]].z);
+}
+
+Plane AABox::get_plane(int pidx) const
+{
+ switch(pidx) {
+ case AABOX_PLANE_PX:
+ return Plane(Vec3(max.x, 0, 0), Vec3(1, 0, 0));
+ case AABOX_PLANE_NX:
+ return Plane(Vec3(min.x, 0, 0), Vec3(-1, 0, 0));
+ case AABOX_PLANE_PY:
+ return Plane(Vec3(0, max.x, 0), Vec3(0, 1, 0));
+ case AABOX_PLANE_NY:
+ return Plane(Vec3(0, min.x, 0), Vec3(0, -1, 0));
+ case AABOX_PLANE_PZ:
+ return Plane(Vec3(0, 0, max.z), Vec3(0, 0, 1));
+ case AABOX_PLANE_NZ:
+ return Plane(Vec3(0, 0, min.z), Vec3(0, 0, -1));
+ default:
+ break;
+ }
+ abort();
+ return Plane();
}
bool AABox::intersect(const Ray &ray, HitPoint *hit) const
{
Vec3 param[2] = {min, max};
+#ifndef NDEBUG
+ Vec3 inv_dir;
+ if(fpexcept_enabled) {
+ inv_dir.x = ray.dir.x == 0.0f ? 1.0f : 1.0f / ray.dir.x;
+ inv_dir.y = ray.dir.y == 0.0f ? 1.0f : 1.0f / ray.dir.y;
+ inv_dir.z = ray.dir.z == 0.0f ? 1.0f : 1.0f / ray.dir.z;
+ } else {
+ inv_dir = Vec3(1.0 / ray.dir.x, 1.0 / ray.dir.y, 1.0 / ray.dir.z);
+ }
+#else
Vec3 inv_dir(1.0 / ray.dir.x, 1.0 / ray.dir.y, 1.0 / ray.dir.z);
+#endif
int sign[3] = {inv_dir.x < 0, inv_dir.y < 0, inv_dir.z < 0};
float tmin = (param[sign[0]].x - ray.origin.x) * inv_dir.x;
v.x <= max.x && v.y <= max.y && v.z <= max.z;
}
-float AABox::distance(const Vec3 &v) const
+#define SQ(x) ((x) * (x))
+float AABox::distance_sq(const Vec3 &v) const
{
- return 0.0; // TODO
+ float dsq = 0.0f;
+
+ for(int i=0; i<3; i++) {
+ if(v[i] < min[i]) dsq += SQ(min[i] - v[i]);
+ if(v[i] > max[i]) dsq += SQ(v[i] - max[i]);
+ }
+ return dsq;
}
-float AABox::signed_distance(const Vec3 &v) const
+float AABox::signed_distance_sq(const Vec3 &v) const
{
- return 0.0; // TODO
+ if(!contains(v)) {
+ return distance_sq(v);
+ }
+
+ float dsq = 0.0f;
+ for(int i=0; i<3; i++) {
+ float dmin = v[i] - min[i];
+ float dmax = max[i] - v[i];
+ dsq -= dmin < dmax ? SQ(dmin) : SQ(dmax);
+ }
+ return dsq;
}
Box::Box()
{
+ type = GOBJ_BOX;
+}
+
+Box::Box(const AABox &aabox, const Mat4 &xform)
+ : xform(xform)
+{
+ type = GOBJ_BOX;
+ min = aabox.min;
+ max = aabox.max;
+}
+
+void Box::invalidate()
+{
+ AABox::invalidate();
+ xform = Mat4::identity;
}
Box::Box(const Vec3 &min, const Vec3 &max)
: AABox(min, max)
{
+ type = GOBJ_BOX;
+}
+
+Box::Box(const Vec3 &min, const Vec3 &max, const Mat4 &xform)
+ : AABox(min, max), xform(xform)
+{
+ type = GOBJ_BOX;
}
// XXX all this shit is completely untested
Box::Box(const Vec3 &pos, const Vec3 &vi, const Vec3 &vj, const Vec3 &vk)
{
+ type = GOBJ_BOX;
float ilen = length(vi);
float jlen = length(vj);
float klen = length(vk);
Box::Box(const Vec3 *varr, int vcount)
{
+ type = GOBJ_BOX;
calc_bounding_aabox(this, varr, vcount);
}
Vec3 Box::get_corner(int idx) const
{
- static const Vec3 v[] = {
- Vec3(-0.5, -0.5, -0.5), Vec3(0.5, -0.5, -0.5), Vec3(0.5, -0.5, 0.5), Vec3(-0.5, -0.5, 0.5),
- Vec3(-0.5, 0.5, -0.5), Vec3(0.5, 0.5, -0.5), Vec3(0.5, 0.5, 0.5), Vec3(-0.5, 0.5, 0.5)
- };
-
- return xform * (v[idx] * Vec3(max - min));
+ return xform * AABox::get_corner(idx);
}
bool Box::intersect(const Ray &ray, HitPoint *hit) const
return AABox::contains(inverse(xform) * pt);
}
-float Box::distance(const Vec3 &v) const
+float Box::distance_sq(const Vec3 &v) const
{
return 0.0f; // TODO
}
-float Box::signed_distance(const Vec3 &v) const
+float Box::signed_distance_sq(const Vec3 &v) const
{
return 0.0f; // TODO
}
Plane::Plane()
: normal(0.0, 1.0, 0.0)
{
+ type = GOBJ_PLANE;
}
Plane::Plane(const Vec3 &p, const Vec3 &norm)
: pt(p)
{
+ type = GOBJ_PLANE;
normal = normalize(norm);
}
Plane::Plane(const Vec3 &p1, const Vec3 &p2, const Vec3 &p3)
: pt(p1)
{
+ type = GOBJ_PLANE;
normal = normalize(cross(p2 - p1, p3 - p1));
}
Plane::Plane(const Vec3 &normal, float dist)
{
+ type = GOBJ_PLANE;
this->normal = normalize(normal);
pt = this->normal * dist;
}
return dot(v - pt, normal);
}
+float Plane::distance_sq(const Vec3 &v) const
+{
+ float d = distance(v);
+ return d * d;
+}
+
+float Plane::signed_distance_sq(const Vec3 &v) const
+{
+ float d = distance(v);
+ return dot(v, normal) >= 0.0f ? d * d : -(d * d);
+}
+
Disc::Disc()
{
+ type = GOBJ_DISC;
radius = 1.0;
}
Disc::Disc(const Vec3 &pt, const Vec3 &normal, float rad)
: Plane(pt, normal)
{
+ type = GOBJ_DISC;
radius = rad;
}
Disc::Disc(const Vec3 &normal, float dist, float rad)
: Plane(normal, dist)
{
+ type = GOBJ_DISC;
radius = rad;
}
+bool Disc::valid() const
+{
+ return radius >= 0.0f;
+}
+
+void Disc::invalidate()
+{
+ radius = -1;
+}
+
bool Disc::intersect(const Ray &ray, HitPoint *hit) const
{
HitPoint phit;
return length_sq(pj - this->pt) <= radius * radius;
}
-float Disc::distance(const Vec3 &v) const
+float Disc::distance_sq(const Vec3 &v) const
{
return 0.0; // TODO
}
-float Disc::signed_distance(const Vec3 &v) const
+float Disc::signed_distance_sq(const Vec3 &v) const
{
return 0.0; // TODO
}
bool calc_bounding_sphere(Sphere *sph, const GeomObject *obj)
{
+ if(!obj->valid()) {
+ sph->invalidate();
+ return true;
+ }
+
switch(obj->type) {
case GOBJ_SPHERE:
*sph = *(Sphere*)obj;
bool calc_bounding_aabox(AABox *box, const GeomObject *obj)
{
+ if(!obj->valid()) {
+ box->invalidate();
+ return true;
+ }
+
switch(obj->type) {
case GOBJ_AABOX:
*box = *(AABox*)obj;
return true;
}
+bool calc_bounding_box(Box *box, const GeomObject *obj)
+{
+ if(!obj->valid()) {
+ box->invalidate();
+ return true;
+ }
+
+ switch(obj->type) {
+ case GOBJ_BOX:
+ *box = *(Box*)obj;
+ break;
+
+ case GOBJ_AABOX:
+ box->min = BOX(obj)->min;
+ box->max = BOX(obj)->max;
+ box->xform = Mat4::identity;
+ break;
+
+ case GOBJ_SPHERE:
+ {
+ float r = SPHERE(obj)->radius;
+ box->min = SPHERE(obj)->center - Vec3(r, r, r);
+ box->max = SPHERE(obj)->center + Vec3(r, r, r);
+ box->xform = Mat4::identity;
+ }
+ break;
+
+ case GOBJ_PLANE:
+ default:
+ return false;
+ }
+ return true;
+}
+
bool intersect_sphere_sphere(Disc *result, const Sphere &a, const Sphere &b)
{
Vec3 dir = b.center - a.center;
}
return res->min.x != res->max.x && res->min.y != res->max.y && res->min.z != res->max.z;
}
+
+bool collision_sphere_aabox(const Sphere &s, const AABox &b)
+{
+ return b.distance_sq(s.center) <= s.radius * s.radius;
+}
projects / laserbrain_demo / blobdiff