#ifndef GEOMOBJ_H_
#define GEOMOBJ_H_
-#include "gmath/gmath.h"
+/* TODO:
+ * - implement distance functions
+ */
+
+#include <gmath/gmath.h>
+
+enum GeomObjectType {
+ GOBJ_UNKNOWN,
+ GOBJ_SPHERE,
+ GOBJ_AABOX,
+ GOBJ_BOX,
+ GOBJ_PLANE,
+ GOBJ_DISC
+};
+
+enum {
+ AABOX_PLANE_PX,
+ AABOX_PLANE_NX,
+ AABOX_PLANE_PY,
+ AABOX_PLANE_NY,
+ AABOX_PLANE_PZ,
+ AABOX_PLANE_NZ
+};
class GeomObject;
-class SceneNode;
+class Plane;
struct HitPoint {
- float dist; //< parametric distance along the ray
- Vec3 pos; //< position of intersection (orig + dir * dist)
- Vec3 normal; //< normal at the point of intersection
- const void *obj; //< pointer to the intersected object
- const SceneNode *node;
- Ray ray;
+ float dist; // parametric distance along the ray
+ Vec3 pos; // position of intersection (orig + dir * dist)
+ Vec3 normal; // normal at the point of intersection
+ Ray ray, local_ray;
+ const GeomObject *obj; // pointer to the intersected geom-object
+ void *data; // place to hang extra data
};
class GeomObject {
public:
+ GeomObjectType type;
+
+ GeomObject();
virtual ~GeomObject();
- virtual void set_union(const GeomObject *obj1, const GeomObject *obj2) = 0;
- virtual void set_intersection(const GeomObject *obj1, const GeomObject *obj2) = 0;
+ virtual bool valid() const;
+ virtual void invalidate();
virtual bool intersect(const Ray &ray, HitPoint *hit = 0) const = 0;
+ virtual bool contains(const Vec3 &pt) const = 0;
+
+ virtual float distance(const Vec3 &v) const;
+ virtual float signed_distance(const Vec3 &v) const;
+
+ virtual float distance_sq(const Vec3 &v) const = 0;
+ virtual float signed_distance_sq(const Vec3 &v) const = 0;
};
class Sphere : public GeomObject {
Sphere();
Sphere(const Vec3 ¢er, float radius);
- void set_union(const GeomObject *obj1, const GeomObject *obj2);
- void set_intersection(const GeomObject *obj1, const GeomObject *obj2);
+ virtual bool valid() const;
+ virtual void invalidate();
+
+ virtual bool intersect(const Ray &ray, HitPoint *hit = 0) const;
+ virtual bool contains(const Vec3 &pt) const;
- bool intersect(const Ray &ray, HitPoint *hit = 0) const;
+ virtual float distance_sq(const Vec3 &v) const;
+ virtual float signed_distance_sq(const Vec3 &v) const;
};
class AABox : public GeomObject {
AABox();
AABox(const Vec3 &min, const Vec3 &max);
- void set_union(const GeomObject *obj1, const GeomObject *obj2);
- void set_intersection(const GeomObject *obj1, const GeomObject *obj2);
+ virtual bool valid() const;
+ virtual void invalidate();
- bool intersect(const Ray &ray, HitPoint *hit = 0) const;
+ virtual Vec3 get_corner(int idx) const;
+ virtual Plane get_plane(int pidx) const;
+
+ virtual bool intersect(const Ray &ray, HitPoint *hit = 0) const;
+ virtual bool contains(const Vec3 &pt) const;
+
+ virtual float distance_sq(const Vec3 &v) const;
+ virtual float signed_distance_sq(const Vec3 &v) const;
};
+class Box : public AABox {
+public:
+ Mat4 xform;
+
+ Box();
+ Box(const AABox &aabox, const Mat4 &xform);
+ Box(const Vec3 &min, const Vec3 &max);
+ Box(const Vec3 &min, const Vec3 &max, const Mat4 &xform);
+ Box(const Vec3 &pos, const Vec3 &vi, const Vec3 &vj, const Vec3 &vk);
+ Box(const Vec3 *varr, int vcount);
+
+ virtual void invalidate();
+
+ virtual Vec3 get_corner(int idx) const;
+
+ virtual bool intersect(const Ray &ray, HitPoint *hit = 0) const;
+ virtual bool contains(const Vec3 &pt) const;
+
+ virtual float distance_sq(const Vec3 &v) const;
+ virtual float signed_distance_sq(const Vec3 &v) const;
+};
+
+
class Plane : public GeomObject {
public:
Vec3 pt, normal;
Plane(const Vec3 &p1, const Vec3 &p2, const Vec3 &p3);
Plane(const Vec3 &normal, float dist);
- void set_union(const GeomObject *obj1, const GeomObject *obj2);
- void set_intersection(const GeomObject *obj1, const GeomObject *obj2);
+ virtual bool intersect(const Ray &ray, HitPoint *hit = 0) const;
+ virtual bool contains(const Vec3 &pt) const;
+
+ virtual float distance(const Vec3 &v) const;
+ virtual float signed_distance(const Vec3 &v) const;
+
+ virtual float distance_sq(const Vec3 &v) const;
+ virtual float signed_distance_sq(const Vec3 &v) const;
+};
+
+class Disc : public Plane {
+public:
+ float radius;
+
+ Disc();
+ Disc(const Vec3 &pt, const Vec3 &normal, float rad);
+ Disc(const Vec3 &normal, float dist, float rad);
+
+ virtual bool valid() const;
+ virtual void invalidate();
+
+ virtual bool intersect(const Ray &ray, HitPoint *hit = 0) const;
+ //! true if the projection of pt to the plane is contained within the disc radius
+ virtual bool contains(const Vec3 &pt) const;
- bool intersect(const Ray &ray, HitPoint *hit = 0) const;
+ virtual float distance_sq(const Vec3 &v) const;
+ virtual float signed_distance_sq(const Vec3 &v) const;
};
-float sphere_distance(const Vec3 ¢, float rad, const Vec3 &pt);
-float capsule_distance(const Vec3 &a, float ra, const Vec3 &b, float rb, const Vec3 &pt);
+//! project point to plane
+Vec3 proj_point_plane(const Vec3 &pt, const Plane &plane);
+
+//! calculate the bounding sphere of any object
+bool calc_bounding_sphere(Sphere *sph, const GeomObject *obj);
+//! calculate the bounding sphere of two objects
+bool calc_bounding_sphere(Sphere *sph, const GeomObject *a, const GeomObject *b);
+//! calculate the bounding sphere of multiple objects
+bool calc_bounding_sphere(Sphere *sph, const GeomObject **objv, int num);
+//! calculate the bounding sphere of multiple points, optionally transformed by `xform`
+bool calc_bounding_sphere(Sphere *sph, const Vec3 *v, int num, const Mat4 &xform = Mat4::identity);
+
+//! calculate the bounding axis-aligned box of any object
+bool calc_bounding_aabox(AABox *box, const GeomObject *obj);
+//! calculate the bounding axis-aligned box of two objects
+bool calc_bounding_aabox(AABox *box, const GeomObject *a, const GeomObject *b);
+//! calculate the bounding axis-aligned box of multiple objects
+bool calc_bounding_aabox(AABox *box, const GeomObject **objv, int num);
+//! calculate the bounding axis-aligned box of multiple points, optionally transformed by `xform`
+bool calc_bounding_aabox(AABox *box, const Vec3 *v, int num, const Mat4 &xform = Mat4::identity);
+
+//! calculate the bounding box of any object
+bool calc_bounding_box(Box *box, const GeomObject *obj);
+
+//! calculate the intersection plane of two spheres. false if there is no plane or infinite planes.
+bool intersect_sphere_sphere(Plane *result, const Sphere &a, const Sphere &b);
+//! calculate the intersection line of two planes. returns false if planes are exactly parallel.
+bool intersect_plane_plane(Ray *result, const Plane &a, const Plane &b);
+/*! calculate the intesection circle of a plane and a sphere. returns false if they don't intersect.
+ * \{
+ */
+bool intersect_sphere_plane(Sphere *result, const Sphere &s, const Plane &p);
+bool intersect_plane_sphere(Sphere *result, const Plane &p, const Sphere &s);
+//! \}
+
+//! calculate the intersection of two axis-aligned bounding boxes
+bool intersect_aabox_aabox(AABox *res, const AABox &a, const AABox &b);
+
+//! determine if a sphere and an axis-aligned box collide
+bool collision_sphere_aabox(const Sphere &s, const AABox &b);
#endif // GEOMOBJ_H_
projects / laserbrain_demo / blobdiff