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https://github.com/borgesdan/xn65
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Implementa Plane
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Danilo
parent
a286eaee4e
commit
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@ -1,6 +1,44 @@
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#include "common/collision.hpp"
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namespace xna {
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Plane::Plane(Vector3 const& point1, Vector3 const& point2, Vector3 const& point3) {
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const auto num1 = point2.X - point1.X;
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const auto num2 = point2.Y - point1.Y;
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const auto num3 = point2.Z - point1.Z;
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const auto num4 = point3.X - point1.X;
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const auto num5 = point3.Y - point1.Y;
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const auto num6 = point3.Z - point1.Z;
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const auto num7 = (num2 * num6 - num3 * num5);
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const auto num8 = (num3 * num4 - num1 * num6);
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const auto num9 = (num1 * num5 - num2 * num4);
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const auto num10 = 1.0f / std::sqrt(num7 * num7 + num8 * num8 + num9 * num9);
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Normal.X = num7 * num10;
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Normal.Y = num8 * num10;
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Normal.Z = num9 * num10;
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D = -(Normal.X * point1.X + Normal.Y * point1.Y + Normal.Z * point1.Z);
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}
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void Plane::Normalize() {
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const auto d = (Normal.X * Normal.X + Normal.Y * Normal.Y + Normal.Z * Normal.Z);
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if (std::abs(d - 1.0f) < 1.1920928955078125E-07)
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return;
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const auto num = 1.0f / std::sqrt(d);
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Normal.X *= num;
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Normal.Y *= num;
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Normal.Z *= num;
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D *= num;
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}
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Plane Plane::Normalize(Plane const& value) {
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auto p = value;
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p.Normalize();
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return p;
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}
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bool BoundingFrustum::Intersects(BoundingBox const& box) {
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gjk.Reset();
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Vector3 result1 = Vector3::Subtract(corners[0], box.Min);
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@ -411,7 +449,7 @@ namespace xna {
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BoundingSphere BoundingSphere::Transform(Matrix const& matrix) const {
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BoundingSphere boundingSphere;
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boundingSphere.Center = Vector3::Transform(Center, matrix);
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float d = MathHelper::Max((matrix.M11 * matrix.M11 + matrix.M12 * matrix.M12 + matrix.M13 * matrix.M13), MathHelper::Max((float)(matrix.M21 * matrix.M21 + matrix.M22 * matrix.M22 + matrix.M23 * matrix.M23), (matrix.M31 * matrix.M31 + matrix.M32 * matrix.M32 + matrix.M33 * matrix.M33)));
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float d = MathHelper::Max((matrix.M11 * matrix.M11 + matrix.M12 * matrix.M12 + matrix.M13 * matrix.M13), MathHelper::Max((matrix.M21 * matrix.M21 + matrix.M22 * matrix.M22 + matrix.M23 * matrix.M23), (matrix.M31 * matrix.M31 + matrix.M32 * matrix.M32 + matrix.M33 * matrix.M33)));
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boundingSphere.Radius = Radius * std::sqrt(d);
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return boundingSphere;
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}
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@ -4,6 +4,7 @@
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#include "default.hpp"
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#include "vectors.hpp"
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#include "matrix.hpp"
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#include "quaternion.hpp"
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#include "gjk.hpp"
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#include <optional>
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#include "math.hpp"
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@ -13,7 +14,33 @@ namespace xna {
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Vector3 Normal{ 0 };
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float D{ 0 };
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constexpr Plane() = default;
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constexpr Plane(float a, float b, float c, float d):
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Normal({a,b,c}), D(d){}
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constexpr Plane(Vector3 const& normal, float d):
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Normal(normal), D(d){}
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constexpr Plane(Vector4 const& value):
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Normal({value.X, value.Y, value.Z}), D(value.W){}
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Plane(Vector3 const& point1, Vector3 const& point2, Vector3 const& point3);
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constexpr bool operator==(Plane const& other) const {
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return Normal == other.Normal && D == other.D;
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}
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void Normalize();
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static Plane Normalize(Plane const& value);
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static constexpr Plane Transform(Plane const& plane, Matrix const& matrix);
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static constexpr Plane Transform(Plane const& plane, Quaternion const& rotation);
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constexpr float Dot(Vector4 const& value) const;
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constexpr float DotCoordinate(Vector3 const& value) const;
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constexpr float DotNormal(Vector3 const& value) const;
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constexpr PlaneIntersectionType Intersects(BoundingBox const& box) const;
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constexpr PlaneIntersectionType Intersects(BoundingFrustum const& frustum) const;
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constexpr PlaneIntersectionType Intersects(BoundingSphere const& sphere) const;
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};
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struct BoundingFrustum {
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@ -427,6 +454,7 @@ namespace xna {
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result.Z = v.Z >= 0.0 ? Max.Z : Min.Z;
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}
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constexpr bool BoundingSphere::Intersects(BoundingBox const& box) const {
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Vector3 result1 = Vector3::Clamp(Center, box.Min, box.Max);
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float result2 = Vector3::DistanceSquared(Center, result1);
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@ -451,7 +479,98 @@ namespace xna {
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const auto radius1 = Radius;
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const auto radius2 = sphere.Radius;
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return radius1 * radius1 + 2.0F * radius1 * radius2 + radius2 * radius2 > result;
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}
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}
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constexpr Plane Plane::Transform(Plane const& plane, Matrix const& matrix) {
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Matrix result = Matrix::Invert(matrix);
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const auto x = plane.Normal.X;
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const auto y = plane.Normal.Y;
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const auto z = plane.Normal.Z;
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const auto d = plane.D;
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Plane plane1;
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plane1.Normal.X = (x * result.M11 + y * result.M12 + z * result.M13 + d * result.M14);
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plane1.Normal.Y = (x * result.M21 + y * result.M22 + z * result.M23 + d * result.M24);
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plane1.Normal.Z = (x * result.M31 + y * result.M32 + z * result.M33 + d * result.M34);
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plane1.D = (x * result.M41 + y * result.M42 + z * result.M43 + d * result.M44);
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return plane1;
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}
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constexpr Plane Plane::Transform(Plane const& plane, Quaternion const& rotation) {
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const auto num1 = rotation.X + rotation.X;
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const auto num2 = rotation.Y + rotation.Y;
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const auto num3 = rotation.Z + rotation.Z;
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const auto num4 = rotation.W * num1;
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const auto num5 = rotation.W * num2;
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const auto num6 = rotation.W * num3;
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const auto num7 = rotation.X * num1;
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const auto num8 = rotation.X * num2;
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const auto num9 = rotation.X * num3;
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const auto num10 = rotation.Y * num2;
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const auto num11 = rotation.Y * num3;
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const auto num12 = rotation.Z * num3;
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const auto num13 = 1.0f - num10 - num12;
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const auto num14 = num8 - num6;
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const auto num15 = num9 + num5;
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const auto num16 = num8 + num6;
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const auto num17 = 1.0f - num7 - num12;
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const auto num18 = num11 - num4;
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const auto num19 = num9 - num5;
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const auto num20 = num11 + num4;
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const auto num21 = 1.0f - num7 - num10;
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const auto x = plane.Normal.X;
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const auto y = plane.Normal.Y;
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const auto z = plane.Normal.Z;
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Plane plane1;
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plane1.Normal.X = (x * num13 + y * num14 + z * num15);
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plane1.Normal.Y = (x * num16 + y * num17 + z * num18);
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plane1.Normal.Z = (x * num19 + y * num20 + z * num21);
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plane1.D = plane.D;
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return plane1;
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}
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constexpr float Plane::Dot(Vector4 const& value) const {
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return (Normal.X * value.X + Normal.Y * value.Y + Normal.Z * value.Z + D * value.W);
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}
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constexpr float Plane::DotCoordinate(Vector3 const& value) const {
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return (Normal.X * value.X + Normal.Y * value.Y + Normal.Z * value.Z) + D;
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}
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constexpr float Plane::DotNormal(Vector3 const& value) const {
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return (Normal.X * value.X + Normal.Y * value.Y + Normal.Z * value.Z);
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}
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constexpr PlaneIntersectionType Plane::Intersects(BoundingBox const& box) const {
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Vector3 vector3_1;
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vector3_1.X = Normal.X >= 0.0f ? box.Min.X : box.Max.X;
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vector3_1.Y = Normal.Y >= 0.0f ? box.Min.Y : box.Max.Y;
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vector3_1.Z = Normal.Z >= 0.0f ? box.Min.Z : box.Max.Z;
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Vector3 vector3_2;
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vector3_2.X = Normal.X >= 0.0f ? box.Max.X : box.Min.X;
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vector3_2.Y = Normal.Y >= 0.0f ? box.Max.Y : box.Min.Y;
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vector3_2.Z = Normal.Z >= 0.0f ? box.Max.Z : box.Min.Z;
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if (Normal.X * vector3_1.X + Normal.Y * vector3_1.Y + Normal.Z * vector3_1.Z + D > 0.0F)
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return PlaneIntersectionType::Front;
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return Normal.X * vector3_2.X + Normal.Y * vector3_2.Y + Normal.Z * vector3_2.Z + D < 0.0F
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? PlaneIntersectionType::Back : PlaneIntersectionType::Intersecting;
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}
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constexpr PlaneIntersectionType Plane::Intersects(BoundingFrustum const& frustum) const {
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return frustum.Intersects(*this);
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}
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constexpr PlaneIntersectionType Plane::Intersects(BoundingSphere const& sphere) const {
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const auto num = (sphere.Center.X * Normal.X + sphere.Center.Y * Normal.Y + sphere.Center.Z * Normal.Z) + D;
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if (num > sphere.Radius)
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return PlaneIntersectionType::Front;
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return num < -sphere.Radius
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? PlaneIntersectionType::Back : PlaneIntersectionType::Intersecting;
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}
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}
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#endif
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