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https://github.com/borgesdan/xn65
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Implementa BoundingSphere
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Danilo
parent
9cdd69562d
commit
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@ -279,4 +279,241 @@ namespace xna {
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}
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return ContainmentType::Contains;
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}
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BoundingSphere BoundingSphere::CreateFromBoundingBox(BoundingBox const& box) {
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BoundingSphere fromBoundingBox;
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fromBoundingBox.Center = Vector3::Lerp(box.Min, box.Max, 0.5f);
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const auto result = Vector3::Distance(box.Min, box.Max);
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fromBoundingBox.Radius = result * 0.5f;
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return fromBoundingBox;
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}
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BoundingSphere BoundingSphere::CreateFromFrustum(BoundingFrustum const& frustum) {
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return BoundingSphere::CreateFromPoints(frustum.corners);
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}
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BoundingSphere BoundingSphere::CreateFromPoints(std::vector<Vector3> const& points) {
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Vector3 current;
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auto vector3_1 = current = points[0];
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auto vector3_2 = current;
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auto vector3_3 = current;
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auto vector3_4 = current;
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auto vector3_5 = current;
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auto vector3_6 = current;
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for (size_t i = 0; i < points.size(); ++i) {
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const auto& point = points[i];
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if (point.X < vector3_6.X)
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vector3_6 = point;
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if (point.X > vector3_5.X)
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vector3_5 = point;
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if (point.Y < vector3_4.Y)
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vector3_4 = point;
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if (point.Y > vector3_3.Y)
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vector3_3 = point;
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if (point.Z < vector3_2.Z)
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vector3_2 = point;
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if (point.Z > vector3_1.Z)
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vector3_1 = point;
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}
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auto result1 = Vector3::Distance(vector3_5, vector3_6);
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auto result2 = Vector3::Distance(vector3_3, vector3_4);
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auto result3 = Vector3::Distance(vector3_1, vector3_2);
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Vector3 result4;
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float num1 = 0;
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if (result1 > result2)
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{
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if (result1 > result3)
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{
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result4 = Vector3::Lerp(vector3_5, vector3_6, 0.5f);
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num1 = result1 * 0.5f;
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}
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else
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{
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result4 = Vector3::Lerp(vector3_1, vector3_2, 0.5f);
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num1 = result3 * 0.5f;
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}
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}
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else if (result2 > result3)
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{
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result4 = Vector3::Lerp(vector3_3, vector3_4, 0.5f);
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num1 = result2 * 0.5f;
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}
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else
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{
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result4 = Vector3::Lerp(vector3_1, vector3_2, 0.5f);
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num1 = result3 * 0.5f;
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}
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for (size_t i = 0; i < points.size(); ++i) {
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const auto& point = points[i];
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Vector3 vector3_7;
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vector3_7.X = point.X - result4.X;
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vector3_7.Y = point.Y - result4.Y;
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vector3_7.Z = point.Z - result4.Z;
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float num2 = vector3_7.Length();
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if (num2 > num1) {
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num1 = (num1 + num2) * 0.5F;
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result4 += (1.0F - num1 / num2) * vector3_7;
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}
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}
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BoundingSphere fromPoints;
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fromPoints.Center = result4;
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fromPoints.Radius = num1;
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return fromPoints;
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}
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ContainmentType BoundingSphere::Contains(BoundingFrustum& frustum) const {
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if (!frustum.Intersects(*this))
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return ContainmentType::Disjoint;
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float num = Radius * Radius;
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for (size_t i = 0; i < BoundingFrustum::CornerCount; ++i)
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{
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const auto corner = frustum[i];
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Vector3 vector3;
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vector3.X = corner.X - Center.X;
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vector3.Y = corner.Y - Center.Y;
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vector3.Z = corner.Z - Center.Z;
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if (vector3.LengthSquared() > num)
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return ContainmentType::Intersects;
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}
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return ContainmentType::Contains;
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}
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ContainmentType BoundingSphere::Contains(BoundingSphere const& sphere) const {
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const auto result = Vector3::Distance(Center, sphere.Center);
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const auto radius1 = Radius;
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const auto radius2 = sphere.Radius;
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if (radius1 + radius2 < result)
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return ContainmentType::Disjoint;
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return radius1 - radius2 < result
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? ContainmentType::Intersects
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: ContainmentType::Contains;
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}
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void BoundingSphere::SupportMapping(Vector3 const& v, Vector3& result) const {
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const auto num = Radius / v.Length();
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result.X = Center.X + v.X * num;
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result.Y = Center.Y + v.Y * num;
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result.Z = Center.Z + v.Z * num;
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}
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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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boundingSphere.Radius = Radius * std::sqrt(d);
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return boundingSphere;
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}
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ContainmentType BoundingSphere::Contains(BoundingBox const& box) const {
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if (!box.Intersects(*this))
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return ContainmentType::Disjoint;
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float num = Radius * Radius;
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Vector3 vector3;
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vector3.X = Center.X - box.Min.X;
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vector3.Y = Center.Y - box.Max.Y;
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vector3.Z = Center.Z - box.Max.Z;
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if (vector3.LengthSquared() > num)
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return ContainmentType::Intersects;
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vector3.X = Center.X - box.Max.X;
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vector3.Y = Center.Y - box.Max.Y;
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vector3.Z = Center.Z - box.Max.Z;
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if (vector3.LengthSquared() > num)
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return ContainmentType::Intersects;
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vector3.X = Center.X - box.Max.X;
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vector3.Y = Center.Y - box.Min.Y;
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vector3.Z = Center.Z - box.Max.Z;
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if (vector3.LengthSquared() > num)
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return ContainmentType::Intersects;
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vector3.X = Center.X - box.Min.X;
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vector3.Y = Center.Y - box.Min.Y;
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vector3.Z = Center.Z - box.Max.Z;
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if (vector3.LengthSquared() > num)
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return ContainmentType::Intersects;
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vector3.X = Center.X - box.Min.X;
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vector3.Y = Center.Y - box.Max.Y;
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vector3.Z = Center.Z - box.Min.Z;
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if (vector3.LengthSquared() > num)
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return ContainmentType::Intersects;
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vector3.X = Center.X - box.Max.X;
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vector3.Y = Center.Y - box.Max.Y;
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vector3.Z = Center.Z - box.Min.Z;
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if (vector3.LengthSquared() > num)
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return ContainmentType::Intersects;
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vector3.X = Center.X - box.Max.X;
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vector3.Y = Center.Y - box.Min.Y;
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vector3.Z = Center.Z - box.Min.Z;
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if (vector3.LengthSquared() > num)
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return ContainmentType::Intersects;
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vector3.X = Center.X - box.Min.X;
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vector3.Y = Center.Y - box.Min.Y;
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vector3.Z = Center.Z - box.Min.Z;
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return vector3.LengthSquared() > num
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? ContainmentType::Intersects
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: ContainmentType::Contains;
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}
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ContainmentType BoundingSphere::Contains(Vector3 const& point) const {
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return Vector3::DistanceSquared(point, Center) >= Radius * Radius
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? ContainmentType::Disjoint
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: ContainmentType::Contains;
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}
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std::optional<float> BoundingSphere::Intersects(Ray const& ray) const {
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const auto num1 = Center.X - ray.Position.X;
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const auto num2 = Center.Y - ray.Position.Y;
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const auto num3 = Center.Z - ray.Position.Z;
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const auto num4 = (num1 * num1 + num2 * num2 + num3 * num3);
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const auto num5 = Radius * Radius;
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if (num4 <= num5)
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return 0.0f;
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const auto num6 = (num1 * ray.Direction.X + num2 * ray.Direction.Y + num3 * ray.Direction.Z);
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if (num6 < 0.0)
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return {};
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const auto num7 = num4 - num6 * num6;
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if (num7 > num5)
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return {};
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const auto num8 = std::sqrt(num5 - num7);
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return num6 - num8;
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}
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BoundingSphere BoundingSphere::CreateMerged(BoundingSphere const& original, BoundingSphere const& additional) {
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Vector3 result = Vector3::Subtract(additional.Center, original.Center);
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float num1 = result.Length();
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float radius1 = original.Radius;
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float radius2 = additional.Radius;
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if (radius1 + radius2 >= num1) {
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if (radius1 - radius2 >= num1)
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return original;
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if (radius2 - radius1 >= num1)
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return additional;
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}
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Vector3 vector3 = result * (1.0f / num1);
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const auto num2 = MathHelper::Min(-radius1, num1 - radius2);
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const auto num3 = (MathHelper::Max(radius1, num1 + radius2) - num2) * 0.5F;
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BoundingSphere merged;
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merged.Center = original.Center + vector3 * (num3 + num2);
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merged.Radius = num3;
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return merged;
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}
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}
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@ -6,11 +6,14 @@
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#include "matrix.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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namespace xna {
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struct Plane {
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Vector3 Normal{ 0 };
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float D{ 0 };
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};
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struct BoundingFrustum {
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@ -54,8 +57,10 @@ namespace xna {
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constexpr ContainmentType Contains(BoundingSphere const& box) const;
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constexpr void SupportMapping(Vector3 const& v, Vector3& result) const;
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private:
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public:
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std::vector<Vector3> corners{ 8 };
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private:
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std::vector<Plane> planes{ 6 };
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Matrix matrix{ Matrix::Identity() };
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Gjk gjk{};
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@ -83,7 +88,7 @@ namespace xna {
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static constexpr BoundingBox CreateMerged(BoundingBox const& original, BoundingBox const& additional);
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static constexpr BoundingBox CreateFromSphere(BoundingSphere const& sphere);
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static constexpr BoundingBox CreateFromPoints(std::vector<Vector3> const& points);
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static constexpr BoundingBox CreateFromPoints(std::vector<Vector3> const& points);
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constexpr bool Intersects(BoundingBox const& box) const;
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bool Intersects(BoundingFrustum& frustum) const;
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@ -103,9 +108,32 @@ namespace xna {
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Vector3 Center{};
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float Radius{ 0 };
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void SupportMapping(Vector3 const& v, Vector3& result) const {
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//TODO
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constexpr BoundingSphere() = default;
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constexpr BoundingSphere(Vector3 const& center, float radius):
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Center(center), Radius(radius < 0 ? 0 : radius){}
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constexpr bool operator==(BoundingSphere const& other) const {
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return Center == other.Center && Radius == other.Radius;
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}
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static BoundingSphere CreateMerged(BoundingSphere const& original, BoundingSphere const& additional);
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static BoundingSphere CreateFromBoundingBox(BoundingBox const& box);
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static BoundingSphere CreateFromPoints(std::vector<Vector3> const& points);
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static BoundingSphere CreateFromFrustum(BoundingFrustum const& points);
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constexpr bool Intersects(BoundingBox const& box) const;
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bool Intersects(BoundingFrustum& frustum) const;
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constexpr PlaneIntersectionType Intersects(Plane const& plane) const;
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std::optional<float> Intersects(Ray const& ray) const;
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constexpr bool Intersects(BoundingSphere const& sphere) const;
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ContainmentType Contains(BoundingBox const& box) const;
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ContainmentType Contains(BoundingFrustum& frustum) const;
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ContainmentType Contains(Vector3 const& point) const;
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ContainmentType Contains(BoundingSphere const& sphere) const;
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BoundingSphere Transform(Matrix const& matrix) const;
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void SupportMapping(Vector3 const& v, Vector3& result) const;
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};
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struct Ray {
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@ -397,7 +425,33 @@ namespace xna {
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result.X = v.X >= 0.0 ? Max.X : Min.X;
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result.Y = v.Y >= 0.0 ? Max.Y : Min.Y;
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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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return result2 <= Radius * Radius;
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}
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inline bool BoundingSphere::Intersects(BoundingFrustum& frustum) const {
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return frustum.Intersects(*this);
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}
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constexpr PlaneIntersectionType BoundingSphere::Intersects(Plane const& plane) const {
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const auto num = (Center.X * plane.Normal.X + Center.Y * plane.Normal.Y + Center.Z * plane.Normal.Z) + plane.D;
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if (num > Radius)
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return PlaneIntersectionType::Front;
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return num < -Radius ? PlaneIntersectionType::Back : PlaneIntersectionType::Intersecting;
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}
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constexpr bool BoundingSphere::Intersects(BoundingSphere const& sphere) const {
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const auto result = Vector3::DistanceSquared(Center, sphere.Center);
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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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#endif
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