532 lines
18 KiB
C++
532 lines
18 KiB
C++
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/*
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** Command & Conquer Renegade(tm)
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** Copyright 2025 Electronic Arts Inc.
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**
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** This program is free software: you can redistribute it and/or modify
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** it under the terms of the GNU General Public License as published by
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** the Free Software Foundation, either version 3 of the License, or
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** (at your option) any later version.
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**
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** This program is distributed in the hope that it will be useful,
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** but WITHOUT ANY WARRANTY; without even the implied warranty of
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** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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** GNU General Public License for more details.
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**
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** You should have received a copy of the GNU General Public License
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** along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "col.h"
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#include "matrix3.h"
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#include "vector3.h"
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BoxClass::BoxClass(Box box)
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{
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Center.X = box.center[0];
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Center.Y = box.center[1];
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Center.Z = box.center[2];
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Extent.X = box.extent[0];
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Extent.Y = box.extent[1];
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Extent.Z = box.extent[2];
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Velocity.X = box.velocity[0];
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Velocity.Y = box.velocity[1];
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Velocity.Z = box.velocity[2];
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Basis[0][0] = box.basis[0][0];
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Basis[0][1] = box.basis[0][1];
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Basis[0][2] = box.basis[0][2];
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Basis[1][0] = box.basis[1][0];
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Basis[1][1] = box.basis[1][1];
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Basis[1][2] = box.basis[1][2];
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Basis[2][0] = box.basis[2][0];
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Basis[2][1] = box.basis[2][1];
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Basis[2][2] = box.basis[2][2];
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}
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//---------------------------------------------------------------------------
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IntersectType Boxes_Intersect(const BoxClass & box0, const BoxClass & box1,float dt)
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{
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// memoized values for Dot_Product(box0.Basis[i],box1.Basis[j]),
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Matrix3 AB;
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// calculate difference of centers
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Vector3 C = box1.Center - box0.Center;
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Vector3 V = box1.Velocity - box0.Velocity;
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float ra, rb, rsum, u0, u1;
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/////////////////////////////////////////////////////////////////////////
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// L = A0
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//
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// Projecting the two boxes onto Box0's X axis. If their intervals
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// on this line do not intersect, the boxes are not intersecting!
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// Each of the tests in this function work in a similar way.
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/////////////////////////////////////////////////////////////////////////
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AB[0][0] = Dot_Product(box0.Basis[0],box1.Basis[0]);
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AB[0][1] = Dot_Product(box0.Basis[0],box1.Basis[1]);
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AB[0][2] = Dot_Product(box0.Basis[0],box1.Basis[2]);
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ra = FABS(box0.Extent[0]);
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rb = FABS(box1.Extent[0]*AB[0][0])+FABS(box1.Extent[1]*AB[0][1])+FABS(box1.Extent[2]*AB[0][2]);
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rsum = ra+rb;
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// u0 = projected distance between the box centers at t0
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// u1 = projected distance between the box centers at t1
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u0 = Dot_Product(C,box0.Basis[0]);
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u1 = u0+dt*Dot_Product(V,box0.Basis[0]);
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA0;
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/////////////////////////////////////////////////////////////////////////
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// L = A1
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// Separating Axis is Box0's Y axis
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/////////////////////////////////////////////////////////////////////////
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AB[1][0] = Dot_Product(box0.Basis[1],box1.Basis[0]);
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AB[1][1] = Dot_Product(box0.Basis[1],box1.Basis[1]);
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AB[1][2] = Dot_Product(box0.Basis[1],box1.Basis[2]);
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ra = FABS(box0.Extent[1]);
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rb = FABS(box1.Extent[0]*AB[1][0])+FABS(box1.Extent[1]*AB[1][1])+FABS(box1.Extent[2]*AB[1][2]);
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rsum = ra+rb;
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u0 = Dot_Product(C,box0.Basis[1]);
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u1 = u0+dt*Dot_Product(V,box0.Basis[1]);
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA1;
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/////////////////////////////////////////////////////////////////////////
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// L = A2
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// Separating Axis is Box0's Y axis
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/////////////////////////////////////////////////////////////////////////
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AB[2][0] = Dot_Product(box0.Basis[2],box1.Basis[0]);
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AB[2][1] = Dot_Product(box0.Basis[2],box1.Basis[1]);
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AB[2][2] = Dot_Product(box0.Basis[2],box1.Basis[2]);
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ra = FABS(box0.Extent[2]);
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rb = FABS(box1.Extent[0]*AB[2][0])+FABS(box1.Extent[1]*AB[2][1])+FABS(box1.Extent[2]*AB[2][2]);
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rsum = ra+rb;
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u0 = Dot_Product(C,box0.Basis[2]);
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u1 = u0+dt*Dot_Product(V,box0.Basis[2]);
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA2;
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/////////////////////////////////////////////////////////////////////////
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// L = B0
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// Separating Axis is Box1's X axis
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[0]*AB[0][0])+FABS(box0.Extent[1]*AB[1][0])+FABS(box0.Extent[2]*AB[2][0]);
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rb = FABS(box1.Extent[0]);
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rsum = ra+rb;
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u0 = Dot_Product(C,box1.Basis[0]);
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u1 = u0+dt*Dot_Product(V,box1.Basis[0]);
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itB0;
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/////////////////////////////////////////////////////////////////////////
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// L = B1
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// Separating Axis is Box1's Y axis
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[0]*AB[0][1])+FABS(box0.Extent[1]*AB[1][1])+FABS(box0.Extent[2]*AB[2][1]);
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rb = FABS(box1.Extent[1]);
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rsum = ra+rb;
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u0 = Dot_Product(C,box1.Basis[1]);
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u1 = u0+dt*Dot_Product(V,box1.Basis[1]);
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itB1;
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/////////////////////////////////////////////////////////////////////////
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// L = B2
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// Separating Axis is Box1's Z axis
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[0]*AB[0][2])+FABS(box0.Extent[1]*AB[1][2])+FABS(box0.Extent[2]*AB[2][2]);
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rb = FABS(box1.Extent[2]);
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rsum = ra+rb;
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u0 = Dot_Product(C,box1.Basis[2]);
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u1 = u0+dt*Dot_Product(V,box1.Basis[2]);
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itB2;
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/////////////////////////////////////////////////////////////////////////
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// None of the aligned axes turned out to be separating axes. Now
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// we check all combinations of cross products of the two boxes axes.
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/////////////////////////////////////////////////////////////////////////
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Matrix3 Ainv = box0.Basis.Transpose();
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Matrix3 coeff = AB.Transpose();
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// difference of centers in box0's-basis
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Vector3 d0, d1, product;
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d0 = Ainv * C;
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d1 = Ainv * V;
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product = dt*d1;
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d1 = d0 + product;
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/////////////////////////////////////////////////////////////////////////
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// L = A0xB0
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[1]*coeff[0][2])+FABS(box0.Extent[2]*coeff[0][1]);
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rb = FABS(box1.Extent[1]*coeff[2][0])+FABS(box1.Extent[2]*coeff[1][0]);
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rsum = ra+rb;
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u0 = d0[2]*coeff[1][0]-d0[1]*coeff[2][0];
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u1 = d1[2]*coeff[1][0]-d1[1]*coeff[2][0];
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA0B0;
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/////////////////////////////////////////////////////////////////////////
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// L = A0xB1
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[1]*coeff[1][2])+FABS(box0.Extent[2]*coeff[1][1]);
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rb = FABS(box1.Extent[0]*coeff[2][0])+FABS(box1.Extent[2]*coeff[0][0]);
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rsum = ra+rb;
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u0 = d0[2]*coeff[1][1]-d0[1]*coeff[1][2];
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u1 = d1[2]*coeff[1][1]-d1[1]*coeff[1][2];
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA0B1;
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/////////////////////////////////////////////////////////////////////////
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// L = A0xB2
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[1]*coeff[2][2])+FABS(box0.Extent[2]*coeff[2][1]);
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rb = FABS(box1.Extent[0]*coeff[1][0])+FABS(box1.Extent[1]*coeff[0][0]);
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rsum = ra+rb;
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u0 = d0[2]*coeff[2][1]-d0[1]*coeff[2][2];
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u1 = d1[2]*coeff[2][1]-d1[1]*coeff[2][2];
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA0B2;
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/////////////////////////////////////////////////////////////////////////
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// L = A1xB0
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[0]*coeff[0][2])+FABS(box0.Extent[2]*coeff[0][0]);
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rb = FABS(box1.Extent[1]*coeff[2][1])+FABS(box1.Extent[2]*coeff[1][1]);
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rsum = ra+rb;
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u0 = d0[0]*coeff[0][2]-d0[2]*coeff[0][0];
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u1 = d1[0]*coeff[0][2]-d1[2]*coeff[0][0];
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA1B0;
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/////////////////////////////////////////////////////////////////////////
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// L = A1xB1
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[0]*coeff[1][2])+FABS(box0.Extent[2]*coeff[1][0]);
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rb = FABS(box1.Extent[0]*coeff[2][1])+FABS(box1.Extent[2]*coeff[0][1]);
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rsum = ra+rb;
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u0 = d0[0]*coeff[1][2]-d0[2]*coeff[1][0];
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u1 = d1[0]*coeff[1][2]-d1[2]*coeff[1][0];
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA1B1;
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/////////////////////////////////////////////////////////////////////////
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// L = A1xB2
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[0]*coeff[2][2])+FABS(box0.Extent[2]*coeff[2][0]);
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rb = FABS(box1.Extent[0]*coeff[1][1])+FABS(box1.Extent[1]*coeff[0][1]);
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rsum = ra+rb;
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u0 = d0[0]*coeff[2][2]-d0[2]*coeff[2][0];
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u1 = d1[0]*coeff[2][2]-d1[2]*coeff[2][0];
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA1B2;
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/////////////////////////////////////////////////////////////////////////
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// L = A2xB0
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[0]*coeff[0][1])+FABS(box0.Extent[1]*coeff[0][0]);
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rb = FABS(box1.Extent[1]*coeff[2][2])+FABS(box1.Extent[2]*coeff[1][2]);
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rsum = ra+rb;
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u0 = d0[1]*coeff[0][0]-d0[0]*coeff[0][1];
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u1 = d1[1]*coeff[0][0]-d1[0]*coeff[0][1];
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA2B0;
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/////////////////////////////////////////////////////////////////////////
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// L = A2xB1
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[0]*coeff[1][1])+FABS(box0.Extent[1]*coeff[1][0]);
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rb = FABS(box1.Extent[0]*coeff[2][2])+FABS(box1.Extent[2]*coeff[0][2]);
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rsum = ra+rb;
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u0 = d0[1]*coeff[1][0]-d0[0]*coeff[1][1];
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u1 = d1[1]*coeff[1][0]-d1[0]*coeff[1][1];
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA2B1;
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/////////////////////////////////////////////////////////////////////////
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// L = A2xB2
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/////////////////////////////////////////////////////////////////////////
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ra = FABS(box0.Extent[0]*coeff[2][1])+FABS(box0.Extent[1]*coeff[2][0]);
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rb = FABS(box1.Extent[0]*coeff[1][2])+FABS(box1.Extent[1]*coeff[0][2]);
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rsum = ra+rb;
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u0 = d0[1]*coeff[2][0]-d0[0]*coeff[2][1];
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u1 = d1[1]*coeff[2][0]-d1[0]*coeff[2][1];
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if ((u0 > rsum && u1 > rsum) || (u0 < -rsum && u1 < -rsum) )
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return itA2B2;
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return itIntersects;
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}
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//---------------------------------------------------------------------------
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IntersectType Boxes_Intersect(const BoxClass & box0, const BoxClass & box1)
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{
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// memoized values for Dot_Product(box0.Basis[i],box1.Basis[j]),
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Matrix3 AB;
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// calculate difference of centers
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Vector3 C = box1.Center - box0.Center;
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float ra, rb, rsum, u0;
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/////////////////////////////////////////////////////////////////////////
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// L = A0
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//
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// Projecting the two boxes onto Box0's X axis. If their intervals
|
||
|
|
// on this line do not intersect, the boxes are not intersecting!
|
||
|
|
// Each of the tests in this function work in a similar way.
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
AB[0][0] = Dot_Product(box0.Basis[0],box1.Basis[0]);
|
||
|
|
AB[0][1] = Dot_Product(box0.Basis[0],box1.Basis[1]);
|
||
|
|
AB[0][2] = Dot_Product(box0.Basis[0],box1.Basis[2]);
|
||
|
|
|
||
|
|
ra = FABS(box0.Extent[0]);
|
||
|
|
rb = FABS(box1.Extent[0]*AB[0][0])+FABS(box1.Extent[1]*AB[0][1])+FABS(box1.Extent[2]*AB[0][2]);
|
||
|
|
rsum = ra+rb;
|
||
|
|
|
||
|
|
// u0 = projected distance between the box centers at t0
|
||
|
|
// u1 = projected distance between the box centers at t1
|
||
|
|
u0 = Dot_Product(C,box0.Basis[0]);
|
||
|
|
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA0;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A1
|
||
|
|
// Separating Axis is Box0's Y axis
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
AB[1][0] = Dot_Product(box0.Basis[1],box1.Basis[0]);
|
||
|
|
AB[1][1] = Dot_Product(box0.Basis[1],box1.Basis[1]);
|
||
|
|
AB[1][2] = Dot_Product(box0.Basis[1],box1.Basis[2]);
|
||
|
|
|
||
|
|
ra = FABS(box0.Extent[1]);
|
||
|
|
rb = FABS(box1.Extent[0]*AB[1][0])+FABS(box1.Extent[1]*AB[1][1])+FABS(box1.Extent[2]*AB[1][2]);
|
||
|
|
rsum = ra+rb;
|
||
|
|
|
||
|
|
u0 = Dot_Product(C,box0.Basis[1]);
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA1;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A2
|
||
|
|
// Separating Axis is Box0's Y axis
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
AB[2][0] = Dot_Product(box0.Basis[2],box1.Basis[0]);
|
||
|
|
AB[2][1] = Dot_Product(box0.Basis[2],box1.Basis[1]);
|
||
|
|
AB[2][2] = Dot_Product(box0.Basis[2],box1.Basis[2]);
|
||
|
|
|
||
|
|
ra = FABS(box0.Extent[2]);
|
||
|
|
rb = FABS(box1.Extent[0]*AB[2][0])+FABS(box1.Extent[1]*AB[2][1])+FABS(box1.Extent[2]*AB[2][2]);
|
||
|
|
rsum = ra+rb;
|
||
|
|
|
||
|
|
u0 = Dot_Product(C,box0.Basis[2]);
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA2;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = B0
|
||
|
|
// Separating Axis is Box1's X axis
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[0]*AB[0][0])+FABS(box0.Extent[1]*AB[1][0])+FABS(box0.Extent[2]*AB[2][0]);
|
||
|
|
rb = FABS(box1.Extent[0]);
|
||
|
|
rsum = ra+rb;
|
||
|
|
|
||
|
|
u0 = Dot_Product(C,box1.Basis[0]);
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itB0;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = B1
|
||
|
|
// Separating Axis is Box1's Y axis
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[0]*AB[0][1])+FABS(box0.Extent[1]*AB[1][1])+FABS(box0.Extent[2]*AB[2][1]);
|
||
|
|
rb = FABS(box1.Extent[1]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = Dot_Product(C,box1.Basis[1]);
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itB1;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = B2
|
||
|
|
// Separating Axis is Box1's Z axis
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[0]*AB[0][2])+FABS(box0.Extent[1]*AB[1][2])+FABS(box0.Extent[2]*AB[2][2]);
|
||
|
|
rb = FABS(box1.Extent[2]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = Dot_Product(C,box1.Basis[2]);
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itB2;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// None of the aligned axes turned out to be separating axes. Now
|
||
|
|
// we check all combinations of cross products of the two boxes axes.
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
Matrix3 Ainv = box0.Basis.Transpose();
|
||
|
|
Matrix3 coeff = AB.Transpose();
|
||
|
|
|
||
|
|
// difference of centers in box0's-basis
|
||
|
|
Vector3 d0, d1, product;
|
||
|
|
d0 = Ainv * C;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A0xB0
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[1]*coeff[0][2])+FABS(box0.Extent[2]*coeff[0][1]);
|
||
|
|
rb = FABS(box1.Extent[1]*coeff[2][0])+FABS(box1.Extent[2]*coeff[1][0]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = d0[2]*coeff[1][0]-d0[1]*coeff[2][0];
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA0B0;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A0xB1
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[1]*coeff[1][2])+FABS(box0.Extent[2]*coeff[1][1]);
|
||
|
|
rb = FABS(box1.Extent[0]*coeff[2][0])+FABS(box1.Extent[2]*coeff[0][0]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = d0[2]*coeff[1][1]-d0[1]*coeff[1][2];
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA0B1;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A0xB2
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[1]*coeff[2][2])+FABS(box0.Extent[2]*coeff[2][1]);
|
||
|
|
rb = FABS(box1.Extent[0]*coeff[1][0])+FABS(box1.Extent[1]*coeff[0][0]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = d0[2]*coeff[2][1]-d0[1]*coeff[2][2];
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA0B2;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A1xB0
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[0]*coeff[0][2])+FABS(box0.Extent[2]*coeff[0][0]);
|
||
|
|
rb = FABS(box1.Extent[1]*coeff[2][1])+FABS(box1.Extent[2]*coeff[1][1]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = d0[0]*coeff[0][2]-d0[2]*coeff[0][0];
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA1B0;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A1xB1
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[0]*coeff[1][2])+FABS(box0.Extent[2]*coeff[1][0]);
|
||
|
|
rb = FABS(box1.Extent[0]*coeff[2][1])+FABS(box1.Extent[2]*coeff[0][1]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = d0[0]*coeff[1][2]-d0[2]*coeff[1][0];
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA1B1;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A1xB2
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[0]*coeff[2][2])+FABS(box0.Extent[2]*coeff[2][0]);
|
||
|
|
rb = FABS(box1.Extent[0]*coeff[1][1])+FABS(box1.Extent[1]*coeff[0][1]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = d0[0]*coeff[2][2]-d0[2]*coeff[2][0];
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA1B2;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A2xB0
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[0]*coeff[0][1])+FABS(box0.Extent[1]*coeff[0][0]);
|
||
|
|
rb = FABS(box1.Extent[1]*coeff[2][2])+FABS(box1.Extent[2]*coeff[1][2]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = d0[1]*coeff[0][0]-d0[0]*coeff[0][1];
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA2B0;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A2xB1
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[0]*coeff[1][1])+FABS(box0.Extent[1]*coeff[1][0]);
|
||
|
|
rb = FABS(box1.Extent[0]*coeff[2][2])+FABS(box1.Extent[2]*coeff[0][2]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = d0[1]*coeff[1][0]-d0[0]*coeff[1][1];
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA2B1;
|
||
|
|
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
// L = A2xB2
|
||
|
|
/////////////////////////////////////////////////////////////////////////
|
||
|
|
ra = FABS(box0.Extent[0]*coeff[2][1])+FABS(box0.Extent[1]*coeff[2][0]);
|
||
|
|
rb = FABS(box1.Extent[0]*coeff[1][2])+FABS(box1.Extent[1]*coeff[0][2]);
|
||
|
|
|
||
|
|
rsum = ra+rb;
|
||
|
|
u0 = d0[1]*coeff[2][0]-d0[0]*coeff[2][1];
|
||
|
|
if ((u0 > rsum) || (u0 < -rsum))
|
||
|
|
return itA2B2;
|
||
|
|
|
||
|
|
return itIntersects;
|
||
|
|
}
|
||
|
|
|