--- /dev/null
+/*
+Copyright (C) 2001-2006, William Joseph.
+All Rights Reserved.
+
+This file is part of GtkRadiant.
+
+GtkRadiant is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+GtkRadiant is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with GtkRadiant; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+*/
+
+#include <float.h>
+
+#include "mathlib.h"
+
+const aabb_t g_aabb_null = {
+ { 0, 0, 0, },
+ { -FLT_MAX, -FLT_MAX, -FLT_MAX, },
+};
+
+void aabb_construct_for_vec3(aabb_t *aabb, const vec3_t min, const vec3_t max)
+{
+ VectorMid(min, max, aabb->origin);
+ VectorSubtract(max, aabb->origin, aabb->extents);
+}
+
+void aabb_clear(aabb_t *aabb)
+{
+ VectorCopy(g_aabb_null.origin, aabb->origin);
+ VectorCopy(g_aabb_null.extents, aabb->extents);
+}
+
+void aabb_extend_by_point(aabb_t *aabb, const vec3_t point)
+{
+#if 1
+ int i;
+ vec_t min, max, displacement;
+ for(i=0; i<3; i++)
+ {
+ displacement = point[i] - aabb->origin[i];
+ if(fabs(displacement) > aabb->extents[i])
+ {
+ if(aabb->extents[i] < 0) // degenerate
+ {
+ min = max = point[i];
+ }
+ else if(displacement > 0)
+ {
+ min = aabb->origin[i] - aabb->extents[i];
+ max = aabb->origin[i] + displacement;
+ }
+ else
+ {
+ max = aabb->origin[i] + aabb->extents[i];
+ min = aabb->origin[i] + displacement;
+ }
+ aabb->origin[i] = (min + max) * 0.5f;
+ aabb->extents[i] = max - aabb->origin[i];
+ }
+ }
+#else
+ unsigned int i;
+ for(i=0; i<3; ++i)
+ {
+ if(aabb->extents[i] < 0) // degenerate
+ {
+ aabb->origin[i] = point[i];
+ aabb->extents[i] = 0;
+ }
+ else
+ {
+ vec_t displacement = point[i] - aabb->origin[i];
+ vec_t increment = (vec_t)fabs(displacement) - aabb->extents[i];
+ if(increment > 0)
+ {
+ increment *= (vec_t)((displacement > 0) ? 0.5 : -0.5);
+ aabb->extents[i] += increment;
+ aabb->origin[i] += increment;
+ }
+ }
+ }
+#endif
+}
+
+void aabb_extend_by_aabb(aabb_t *aabb, const aabb_t *aabb_src)
+{
+ int i;
+ vec_t min, max, displacement, difference;
+ for(i=0; i<3; i++)
+ {
+ displacement = aabb_src->origin[i] - aabb->origin[i];
+ difference = aabb_src->extents[i] - aabb->extents[i];
+ if(aabb->extents[i] < 0
+ || difference >= fabs(displacement))
+ {
+ // 2nd contains 1st
+ aabb->extents[i] = aabb_src->extents[i];
+ aabb->origin[i] = aabb_src->origin[i];
+ }
+ else if(aabb_src->extents[i] < 0
+ || -difference >= fabs(displacement))
+ {
+ // 1st contains 2nd
+ continue;
+ }
+ else
+ {
+ // not contained
+ if(displacement > 0)
+ {
+ min = aabb->origin[i] - aabb->extents[i];
+ max = aabb_src->origin[i] + aabb_src->extents[i];
+ }
+ else
+ {
+ min = aabb_src->origin[i] - aabb_src->extents[i];
+ max = aabb->origin[i] + aabb->extents[i];
+ }
+ aabb->origin[i] = (min + max) * 0.5f;
+ aabb->extents[i] = max - aabb->origin[i];
+ }
+ }
+}
+
+void aabb_extend_by_vec3(aabb_t *aabb, vec3_t extension)
+{
+ VectorAdd(aabb->extents, extension, aabb->extents);
+}
+
+int aabb_test_point(const aabb_t *aabb, const vec3_t point)
+{
+ int i;
+ for(i=0; i<3; i++)
+ if(fabs(point[i] - aabb->origin[i]) >= aabb->extents[i])
+ return 0;
+ return 1;
+}
+
+int aabb_test_aabb(const aabb_t *aabb, const aabb_t *aabb_src)
+{
+ int i;
+ for (i=0; i<3; i++)
+ if ( fabs(aabb_src->origin[i] - aabb->origin[i]) > (fabs(aabb->extents[i]) + fabs(aabb_src->extents[i])) )
+ return 0;
+ return 1;
+}
+
+int aabb_test_plane(const aabb_t *aabb, const float *plane)
+{
+ float fDist, fIntersect;
+
+ // calc distance of origin from plane
+ fDist = DotProduct(plane, aabb->origin) + plane[3];
+
+ // calc extents distance relative to plane normal
+ fIntersect = (vec_t)(fabs(plane[0] * aabb->extents[0]) + fabs(plane[1] * aabb->extents[1]) + fabs(plane[2] * aabb->extents[2]));
+ // accept if origin is less than or equal to this distance
+ if (fabs(fDist) < fIntersect) return 1; // partially inside
+ else if (fDist < 0) return 2; // totally inside
+ return 0; // totally outside
+}
+
+/*
+Fast Ray-Box Intersection
+by Andrew Woo
+from "Graphics Gems", Academic Press, 1990
+*/
+
+#define NUMDIM 3
+#define RIGHT 0
+#define LEFT 1
+#define MIDDLE 2
+
+int aabb_intersect_ray(const aabb_t *aabb, const ray_t *ray, vec3_t intersection)
+{
+ int inside = 1;
+ char quadrant[NUMDIM];
+ register int i;
+ int whichPlane;
+ double maxT[NUMDIM];
+ double candidatePlane[NUMDIM];
+
+ const float *origin = ray->origin;
+ const float *direction = ray->direction;
+
+ /* Find candidate planes; this loop can be avoided if
+ rays cast all from the eye(assume perpsective view) */
+ for (i=0; i<NUMDIM; i++)
+ {
+ if(origin[i] < (aabb->origin[i] - aabb->extents[i]))
+ {
+ quadrant[i] = LEFT;
+ candidatePlane[i] = (aabb->origin[i] - aabb->extents[i]);
+ inside = 0;
+ }
+ else if (origin[i] > (aabb->origin[i] + aabb->extents[i]))
+ {
+ quadrant[i] = RIGHT;
+ candidatePlane[i] = (aabb->origin[i] + aabb->extents[i]);
+ inside = 0;
+ }
+ else
+ {
+ quadrant[i] = MIDDLE;
+ }
+ }
+
+ /* Ray origin inside bounding box */
+ if(inside == 1)
+ {
+ VectorCopy(ray->origin, intersection);
+ return 1;
+ }
+
+
+ /* Calculate T distances to candidate planes */
+ for (i = 0; i < NUMDIM; i++)
+ {
+ if (quadrant[i] != MIDDLE && direction[i] !=0.)
+ maxT[i] = (candidatePlane[i] - origin[i]) / direction[i];
+ else
+ maxT[i] = -1.;
+ }
+
+ /* Get largest of the maxT's for final choice of intersection */
+ whichPlane = 0;
+ for (i = 1; i < NUMDIM; i++)
+ if (maxT[whichPlane] < maxT[i])
+ whichPlane = i;
+
+ /* Check final candidate actually inside box */
+ if (maxT[whichPlane] < 0.)
+ return 0;
+ for (i = 0; i < NUMDIM; i++)
+ {
+ if (whichPlane != i)
+ {
+ intersection[i] = (vec_t)(origin[i] + maxT[whichPlane] * direction[i]);
+ if (fabs(intersection[i] - aabb->origin[i]) > aabb->extents[i])
+ return 0;
+ }
+ else
+ {
+ intersection[i] = (vec_t)candidatePlane[i];
+ }
+ }
+
+ return 1; /* ray hits box */
+}
+
+int aabb_test_ray(const aabb_t* aabb, const ray_t* ray)
+{
+ vec3_t displacement, ray_absolute;
+ vec_t f;
+
+ displacement[0] = ray->origin[0] - aabb->origin[0];
+ if(fabs(displacement[0]) > aabb->extents[0] && displacement[0] * ray->direction[0] >= 0.0f)
+ return 0;
+
+ displacement[1] = ray->origin[1] - aabb->origin[1];
+ if(fabs(displacement[1]) > aabb->extents[1] && displacement[1] * ray->direction[1] >= 0.0f)
+ return 0;
+
+ displacement[2] = ray->origin[2] - aabb->origin[2];
+ if(fabs(displacement[2]) > aabb->extents[2] && displacement[2] * ray->direction[2] >= 0.0f)
+ return 0;
+
+ ray_absolute[0] = (float)fabs(ray->direction[0]);
+ ray_absolute[1] = (float)fabs(ray->direction[1]);
+ ray_absolute[2] = (float)fabs(ray->direction[2]);
+
+ f = ray->direction[1] * displacement[2] - ray->direction[2] * displacement[1];
+ if((float)fabs(f) > aabb->extents[1] * ray_absolute[2] + aabb->extents[2] * ray_absolute[1])
+ return 0;
+
+ f = ray->direction[2] * displacement[0] - ray->direction[0] * displacement[2];
+ if((float)fabs(f) > aabb->extents[0] * ray_absolute[2] + aabb->extents[2] * ray_absolute[0])
+ return 0;
+
+ f = ray->direction[0] * displacement[1] - ray->direction[1] * displacement[0];
+ if((float)fabs(f) > aabb->extents[0] * ray_absolute[1] + aabb->extents[1] * ray_absolute[0])
+ return 0;
+
+ return 1;
+}
+
+void aabb_orthogonal_transform(aabb_t* dst, const aabb_t* src, const m4x4_t transform)
+{
+ VectorCopy(src->origin, dst->origin);
+ m4x4_transform_point(transform, dst->origin);
+
+ dst->extents[0] = (vec_t)(fabs(transform[0] * src->extents[0])
+ + fabs(transform[4] * src->extents[1])
+ + fabs(transform[8] * src->extents[2]));
+ dst->extents[1] = (vec_t)(fabs(transform[1] * src->extents[0])
+ + fabs(transform[5] * src->extents[1])
+ + fabs(transform[9] * src->extents[2]));
+ dst->extents[2] = (vec_t)(fabs(transform[2] * src->extents[0])
+ + fabs(transform[6] * src->extents[1])
+ + fabs(transform[10] * src->extents[2]));
+}
+
+void aabb_for_bbox(aabb_t *aabb, const bbox_t *bbox)
+{
+ int i;
+ vec3_t temp[3];
+
+ VectorCopy(bbox->aabb.origin, aabb->origin);
+
+ // calculate the AABB extents in local coord space from the OBB extents and axes
+ VectorScale(bbox->axes[0], bbox->aabb.extents[0], temp[0]);
+ VectorScale(bbox->axes[1], bbox->aabb.extents[1], temp[1]);
+ VectorScale(bbox->axes[2], bbox->aabb.extents[2], temp[2]);
+ for(i=0;i<3;i++) aabb->extents[i] = (vec_t)(fabs(temp[0][i]) + fabs(temp[1][i]) + fabs(temp[2][i]));
+}
+
+void aabb_for_area(aabb_t *aabb, vec3_t area_tl, vec3_t area_br, int axis)
+{
+ aabb_clear(aabb);
+ aabb->extents[axis] = FLT_MAX;
+ aabb_extend_by_point(aabb, area_tl);
+ aabb_extend_by_point(aabb, area_br);
+}
+
+int aabb_oriented_intersect_plane(const aabb_t *aabb, const m4x4_t transform, const vec_t* plane)
+{
+ vec_t fDist, fIntersect;
+
+ // calc distance of origin from plane
+ fDist = DotProduct(plane, aabb->origin) + plane[3];
+
+ // calc extents distance relative to plane normal
+ fIntersect = (vec_t)(fabs(aabb->extents[0] * DotProduct(plane, transform))
+ + fabs(aabb->extents[1] * DotProduct(plane, transform+4))
+ + fabs(aabb->extents[2] * DotProduct(plane, transform+8)));
+ // accept if origin is less than this distance
+ if (fabs(fDist) < fIntersect) return 1; // partially inside
+ else if (fDist < 0) return 2; // totally inside
+ return 0; // totally outside
+}
+
+void aabb_corners(const aabb_t* aabb, vec3_t corners[8])
+{
+ vec3_t min, max;
+ VectorSubtract(aabb->origin, aabb->extents, min);
+ VectorAdd(aabb->origin, aabb->extents, max);
+ VectorSet(corners[0], min[0], max[1], max[2]);
+ VectorSet(corners[1], max[0], max[1], max[2]);
+ VectorSet(corners[2], max[0], min[1], max[2]);
+ VectorSet(corners[3], min[0], min[1], max[2]);
+ VectorSet(corners[4], min[0], max[1], min[2]);
+ VectorSet(corners[5], max[0], max[1], min[2]);
+ VectorSet(corners[6], max[0], min[1], min[2]);
+ VectorSet(corners[7], min[0], min[1], min[2]);
+}
+
+
+void bbox_update_radius(bbox_t *bbox)
+{
+ bbox->radius = VectorLength(bbox->aabb.extents);
+}
+
+void aabb_for_transformed_aabb(aabb_t* dst, const aabb_t* src, const m4x4_t transform)
+{
+ if(src->extents[0] < 0
+ || src->extents[1] < 0
+ || src->extents[2] < 0)
+ {
+ aabb_clear(dst);
+ return;
+ }
+
+ VectorCopy(src->origin, dst->origin);
+ m4x4_transform_point(transform, dst->origin);
+
+ dst->extents[0] = (vec_t)(fabs(transform[0] * src->extents[0])
+ + fabs(transform[4] * src->extents[1])
+ + fabs(transform[8] * src->extents[2]));
+ dst->extents[1] = (vec_t)(fabs(transform[1] * src->extents[0])
+ + fabs(transform[5] * src->extents[1])
+ + fabs(transform[9] * src->extents[2]));
+ dst->extents[2] = (vec_t)(fabs(transform[2] * src->extents[0])
+ + fabs(transform[6] * src->extents[1])
+ + fabs(transform[10] * src->extents[2]));
+}
+
+void bbox_for_oriented_aabb(bbox_t *bbox, const aabb_t *aabb, const m4x4_t matrix, const vec3_t euler, const vec3_t scale)
+{
+ double rad[3];
+ double pi_180 = Q_PI / 180;
+ double A, B, C, D, E, F, AD, BD;
+
+ VectorCopy(aabb->origin, bbox->aabb.origin);
+
+ m4x4_transform_point(matrix, bbox->aabb.origin);
+
+ bbox->aabb.extents[0] = aabb->extents[0] * scale[0];
+ bbox->aabb.extents[1] = aabb->extents[1] * scale[1];
+ bbox->aabb.extents[2] = aabb->extents[2] * scale[2];
+
+ rad[0] = euler[0] * pi_180;
+ rad[1] = euler[1] * pi_180;
+ rad[2] = euler[2] * pi_180;
+
+ A = cos(rad[0]);
+ B = sin(rad[0]);
+ C = cos(rad[1]);
+ D = sin(rad[1]);
+ E = cos(rad[2]);
+ F = sin(rad[2]);
+
+ AD = A * -D;
+ BD = B * -D;
+
+ bbox->axes[0][0] = (vec_t)(C*E);
+ bbox->axes[0][1] = (vec_t)(-BD*E + A*F);
+ bbox->axes[0][2] = (vec_t)(AD*E + B*F);
+ bbox->axes[1][0] = (vec_t)(-C*F);
+ bbox->axes[1][1] = (vec_t)(BD*F + A*E);
+ bbox->axes[1][2] = (vec_t)(-AD*F + B*E);
+ bbox->axes[2][0] = (vec_t)D;
+ bbox->axes[2][1] = (vec_t)(-B*C);
+ bbox->axes[2][2] = (vec_t)(A*C);
+
+ bbox_update_radius(bbox);
+}
+
+int bbox_intersect_plane(const bbox_t *bbox, const vec_t* plane)
+{
+ vec_t fDist, fIntersect;
+
+ // calc distance of origin from plane
+ fDist = DotProduct(plane, bbox->aabb.origin) + plane[3];
+
+ // trivial accept/reject using bounding sphere
+ if (fabs(fDist) > bbox->radius)
+ {
+ if (fDist < 0)
+ return 2; // totally inside
+ else
+ return 0; // totally outside
+ }
+
+ // calc extents distance relative to plane normal
+ fIntersect = (vec_t)(fabs(bbox->aabb.extents[0] * DotProduct(plane, bbox->axes[0]))
+ + fabs(bbox->aabb.extents[1] * DotProduct(plane, bbox->axes[1]))
+ + fabs(bbox->aabb.extents[2] * DotProduct(plane, bbox->axes[2])));
+ // accept if origin is less than this distance
+ if (fabs(fDist) < fIntersect) return 1; // partially inside
+ else if (fDist < 0) return 2; // totally inside
+ return 0; // totally outside
+}
projects / voretournament / voretournament.git / blobdiff