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#include "UnityPrefix.h"
#include "AABB.h"
#include "Runtime/Math/Quaternion.h"
const AABB AABB::zero = AABB(Vector3f::zero, Vector3f::zero);
void CalculateClosestPoint (const Vector3f& rkPoint, const AABB& rkBox, Vector3f& outPoint, float& outSqrDistance)
{
// compute coordinates of point in box coordinate system
Vector3f kClosest = rkPoint - rkBox.GetCenter();
// project test point onto box
float fSqrDistance = 0.0f;
float fDelta;
for (int i=0;i<3;i++)
{
if ( kClosest[i] < -rkBox.GetExtent (i) )
{
fDelta = kClosest[i] + rkBox.GetExtent (i);
fSqrDistance += fDelta * fDelta;
kClosest[i] = -rkBox.GetExtent (i);
}
else if ( kClosest[i] > rkBox.GetExtent(i) )
{
fDelta = kClosest[i] - rkBox.GetExtent (i);
fSqrDistance += fDelta * fDelta;
kClosest[i] = rkBox.GetExtent (i);
}
}
// Inside
if (fSqrDistance == 0.0F)
{
outPoint = rkPoint;
outSqrDistance = 0.0F;
}
// Outside
else
{
outPoint = kClosest + rkBox.GetCenter();
outSqrDistance = fSqrDistance;
}
}
// Sphere-AABB distance, Arvo's algorithm
float CalculateSqrDistance (const Vector3f& rkPoint, const AABB& rkBox)
{
Vector3f closest = rkPoint - rkBox.GetCenter();
float sqrDistance = 0.0f;
for (int i = 0; i < 3; ++i)
{
float clos = closest[i];
float ext = rkBox.GetExtent(i);
if (clos < -ext)
{
float delta = clos + ext;
sqrDistance += delta * delta;
closest[i] = -ext;
}
else if (clos > ext)
{
float delta = clos - ext;
sqrDistance += delta * delta;
closest[i] = ext;
}
}
return sqrDistance;
}
void AABB::GetVertices (Vector3f* outVertices) const
{
outVertices[0] = m_Center + Vector3f (-m_Extent.x, -m_Extent.y, -m_Extent.z);
outVertices[1] = m_Center + Vector3f (+m_Extent.x, -m_Extent.y, -m_Extent.z);
outVertices[2] = m_Center + Vector3f (-m_Extent.x, +m_Extent.y, -m_Extent.z);
outVertices[3] = m_Center + Vector3f (+m_Extent.x, +m_Extent.y, -m_Extent.z);
outVertices[4] = m_Center + Vector3f (-m_Extent.x, -m_Extent.y, +m_Extent.z);
outVertices[5] = m_Center + Vector3f (+m_Extent.x, -m_Extent.y, +m_Extent.z);
outVertices[6] = m_Center + Vector3f (-m_Extent.x, +m_Extent.y, +m_Extent.z);
outVertices[7] = m_Center + Vector3f (+m_Extent.x, +m_Extent.y, +m_Extent.z);
}
void MinMaxAABB::GetVertices( Vector3f outVertices[8] ) const
{
// 7-----6
// / /|
// 3-----2 |
// | 4 | 5
// | |/
// 0-----1
outVertices[0].Set( m_Min.x, m_Min.y, m_Min.z );
outVertices[1].Set( m_Max.x, m_Min.y, m_Min.z );
outVertices[2].Set( m_Max.x, m_Max.y, m_Min.z );
outVertices[3].Set( m_Min.x, m_Max.y, m_Min.z );
outVertices[4].Set( m_Min.x, m_Min.y, m_Max.z );
outVertices[5].Set( m_Max.x, m_Min.y, m_Max.z );
outVertices[6].Set( m_Max.x, m_Max.y, m_Max.z );
outVertices[7].Set( m_Min.x, m_Max.y, m_Max.z );
}
bool AABB::IsInside (const Vector3f& inPoint) const
{
if (inPoint[0] < m_Center[0] - m_Extent[0])
return false;
if (inPoint[0] > m_Center[0] + m_Extent[0])
return false;
if (inPoint[1] < m_Center[1] - m_Extent[1])
return false;
if (inPoint[1] > m_Center[1] + m_Extent[1])
return false;
if (inPoint[2] < m_Center[2] - m_Extent[2])
return false;
if (inPoint[2] > m_Center[2] + m_Extent[2])
return false;
return true;
}
void AABB::Encapsulate (const Vector3f& inPoint) {
MinMaxAABB temp = *this;
temp.Encapsulate (inPoint);
FromMinMaxAABB (temp);
}
bool MinMaxAABB::IsInside (const Vector3f& inPoint) const
{
if (inPoint[0] < m_Min[0])
return false;
if (inPoint[0] > m_Max[0])
return false;
if (inPoint[1] < m_Min[1])
return false;
if (inPoint[1] > m_Max[1])
return false;
if (inPoint[2] < m_Min[2])
return false;
if (inPoint[2] > m_Max[2])
return false;
return true;
}
MinMaxAABB AddAABB (const MinMaxAABB& lhs, const MinMaxAABB& rhs)
{
MinMaxAABB minMax;
if (lhs.IsValid())
minMax = lhs;
if (rhs.IsValid())
{
minMax.Encapsulate (rhs.GetMax ());
minMax.Encapsulate (rhs.GetMin ());
}
return minMax;
}
inline Vector3f RotateExtents (const Vector3f& extents, const Matrix3x3f& rotation)
{
Vector3f newExtents;
for (int i=0;i<3;i++)
newExtents[i] = Abs (rotation.Get (i, 0) * extents.x) + Abs (rotation.Get (i, 1) * extents.y) + Abs (rotation.Get (i, 2) * extents.z);
return newExtents;
}
inline Vector3f RotateExtents (const Vector3f& extents, const Matrix4x4f& rotation)
{
Vector3f newExtents;
for (int i=0;i<3;i++)
newExtents[i] = Abs (rotation.Get (i, 0) * extents.x) + Abs (rotation.Get (i, 1) * extents.y) + Abs (rotation.Get (i, 2) * extents.z);
return newExtents;
}
void TransformAABB (const AABB& aabb, const Vector3f& position, const Quaternionf& rotation, AABB& result)
{
Matrix3x3f m;
QuaternionToMatrix (rotation, m);
Vector3f extents = RotateExtents (aabb.GetExtent (), m);
Vector3f center = m.MultiplyPoint3 (aabb.GetCenter ());
center += position;
result.SetCenterAndExtent( center, extents );
}
void TransformAABB (const AABB& aabb, const Matrix4x4f& transform, AABB& result)
{
Vector3f extents = RotateExtents (aabb.GetExtent (), transform);
Vector3f center = transform.MultiplyPoint3 (aabb.GetCenter ());
result.SetCenterAndExtent( center, extents );
}
void TransformAABBSlow (const AABB& aabb, const Matrix4x4f& transform, AABB& result)
{
MinMaxAABB transformed;
transformed.Init ();
Vector3f v[8];
aabb.GetVertices (v);
for (int i=0;i<8;i++)
transformed.Encapsulate (transform.MultiplyPoint3 (v[i]));
result = transformed;
}
void InverseTransformAABB (const AABB& aabb, const Vector3f& position, const Quaternionf& rotation, AABB& result)
{
Matrix3x3f m;
QuaternionToMatrix (Inverse (rotation), m);
Vector3f extents = RotateExtents (aabb.GetExtent (), m);
Vector3f center = aabb.GetCenter () - position;
center = m.MultiplyPoint3 (center);
result.SetCenterAndExtent( center, extents );
}
bool IsContainedInAABB (const AABB& inside, const AABB& bigBounds)
{
bool outside = false;
outside |= inside.m_Center[0] - inside.m_Extent[0] < bigBounds.m_Center[0] - bigBounds.m_Extent[0];
outside |= inside.m_Center[0] + inside.m_Extent[0] > bigBounds.m_Center[0] + bigBounds.m_Extent[0];
outside |= inside.m_Center[1] - inside.m_Extent[1] < bigBounds.m_Center[1] - bigBounds.m_Extent[1];
outside |= inside.m_Center[1] + inside.m_Extent[1] > bigBounds.m_Center[1] + bigBounds.m_Extent[1];
outside |= inside.m_Center[2] - inside.m_Extent[2] < bigBounds.m_Center[2] - bigBounds.m_Extent[2];
outside |= inside.m_Center[2] + inside.m_Extent[2] > bigBounds.m_Center[2] + bigBounds.m_Extent[2];
return !outside;
}
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