268 lines
14 KiB
C++
268 lines
14 KiB
C++
/*
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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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/***********************************************************************************************
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*** C O N F I D E N T I A L --- W E S T W O O D S T U D I O S ***
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***********************************************************************************************
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* *
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* Project Name : wwmath *
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* *
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* $Archive:: /Commando/Code/wwmath/obbox.h $*
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* *
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* Author:: Greg_h *
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* *
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* $Modtime:: 6/29/00 6:51p $*
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* *
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* $Revision:: 23 $*
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* *
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*---------------------------------------------------------------------------------------------*
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* Functions: *
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* OBBoxClass::Transform -- transform an oriented box *
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* OBBoxClass::Project_To_Axis -- compute projection onto the given axis *
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* OBBoxClass::Compute_Point -- computes position of a parametricly defined point *
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* OBBoxClass::Compute_Axis_Aligned_Extent -- computes extent of an AABox enclosing this box *
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* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
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#if defined(_MSC_VER)
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#pragma once
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#endif
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#ifndef OBBOX_H
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#define OBBOX_H
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#include "always.h"
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#include "vector3.h"
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#include "matrix3.h"
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#include "matrix3d.h"
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#include "wwmath.h"
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#include "castres.h"
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class TriClass;
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class AABoxClass;
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class PlaneClass;
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/*
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** OBBoxClass
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**
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** Oriented-Bounding-Box Class.
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** This is a collision box in world space.
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** Center - position of the center of the box
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** Extents - size of the box
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** Basis - rotation matrix defining the orientation of the box
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**
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** To find the world space coordinates of the "+x,+y,+z" corner of
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** the bounding box you could use this equation:
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** Vector3 corner = Center + Basis * Extent;
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*/
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class OBBoxClass
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{
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public:
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OBBoxClass(void) { }
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OBBoxClass(const OBBoxClass & that) :
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Basis(that.Basis),
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Center(that.Center),
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Extent(that.Extent)
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{ }
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OBBoxClass(const Vector3 & center,const Vector3 & extent) :
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Basis(1),
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Center(center),
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Extent(extent)
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{ }
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OBBoxClass(const Vector3 & center,const Vector3 & extent,const Matrix3 & basis) :
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Basis(basis),
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Center(center),
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Extent(extent)
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{ }
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OBBoxClass(const Vector3 * points, int num_points);
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bool operator== (const OBBoxClass &src);
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bool operator!= (const OBBoxClass &src);
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void Init_From_Box_Points(Vector3 * points,int num_points);
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void Init_Random(float min_extent = 0.5f,float max_extent = 1.0f);
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float Project_To_Axis(const Vector3 & axis) const;
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float Volume(void) const { return 2.0*Extent.X * 2.0*Extent.Y * 2.0*Extent.Z; }
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void Compute_Point(float params[3],Vector3 * set_point) const;
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void Compute_Axis_Aligned_Extent(Vector3 * set_extent) const;
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Matrix3 Basis;
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Vector3 Center;
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Vector3 Extent;
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static void Transform(const Matrix3D & tm,const OBBoxClass & in,OBBoxClass * out);
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};
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// Test functions: slow, easy to understand version of box intersection code :)
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bool Oriented_Boxes_Intersect(const OBBoxClass & box0,const OBBoxClass & box1);
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bool Oriented_Boxes_Collide(const OBBoxClass & box0,const Vector3 & v0,const OBBoxClass & box1,const Vector3 & v1,float dt);
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bool Oriented_Box_Intersects_Tri(const OBBoxClass & box,const TriClass & tri);
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/***********************************************************************************************
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* OBBoxClass::Project_To_Axis -- compute projection onto the given axis *
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* *
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* INPUT: *
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* *
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* OUTPUT: *
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* *
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* WARNINGS: *
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* *
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* HISTORY: *
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* 2/24/98 GTH : Created. *
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*=============================================================================================*/
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inline float OBBoxClass::Project_To_Axis(const Vector3 & axis) const
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{
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float x = Extent[0] * Vector3::Dot_Product(axis,Vector3(Basis[0][0],Basis[1][0],Basis[2][0]));
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float y = Extent[1] * Vector3::Dot_Product(axis,Vector3(Basis[0][1],Basis[1][1],Basis[2][1]));
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float z = Extent[2] * Vector3::Dot_Product(axis,Vector3(Basis[0][2],Basis[1][2],Basis[2][2]));
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// projection is the sum of the absolute values of the projections of the three extents
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return (WWMath::Fabs(x) + WWMath::Fabs(y) + WWMath::Fabs(z));
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}
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/***********************************************************************************************
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* OBBoxClass::Transform -- transform an oriented box *
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* *
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* INPUT: *
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* *
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* OUTPUT: *
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* *
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* WARNINGS: *
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* *
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* HISTORY: *
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* 2/24/98 GTH : Created. *
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*=============================================================================================*/
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inline void OBBoxClass::Transform
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(
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const Matrix3D & tm,
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const OBBoxClass & in,
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OBBoxClass * out
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)
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{
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WWASSERT(out);
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WWASSERT(out!=&in);
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out->Extent = in.Extent;
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Matrix3D::Transform_Vector(tm,in.Center,&(out->Center));
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Matrix3::Multiply(tm,in.Basis,&(out->Basis));
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}
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/***********************************************************************************************
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* OBBoxClass::Compute_Point -- computes position of a parametricly defined point *
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* *
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* set_point = Center + params[0]*A0 + params[1]*A1 + params[2]*A2 *
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* *
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* INPUT: *
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* params - parametric description of a point in the box. -1 < params[i] < 1 *
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* set_point - pointer to a Vector3 to set. *
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* *
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* OUTPUT: *
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* *
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* WARNINGS: *
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* *
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* HISTORY: *
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* 4/2/99 GTH : Created. *
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*=============================================================================================*/
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inline void OBBoxClass::Compute_Point(float params[3],Vector3 * set_point) const
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{
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Vector3 point = Extent;
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point.X *= params[0];
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point.Y *= params[1];
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point.Z *= params[2];
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Matrix3::Rotate_Vector(Basis,point,set_point);
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Vector3::Add(Center,*set_point,set_point);
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}
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/***********************************************************************************************
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* OBBoxClass::Compute_Axis_Aligned_Extent -- computes extent of an AABox enclosing this box *
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* *
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* INPUT: *
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* set_extent - pointer to a Vector3 to put the result into *
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* *
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* OUTPUT: *
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* *
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* WARNINGS: *
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* *
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* HISTORY: *
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* 11/15/99 gth : Created. *
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*=============================================================================================*/
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inline void OBBoxClass::Compute_Axis_Aligned_Extent(Vector3 * set_extent) const
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{
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WWASSERT(set_extent != NULL);
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// x extent is the box projected onto the x axis
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set_extent->X = WWMath::Fabs(Extent[0] * Basis[0][0]) +
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WWMath::Fabs(Extent[1] * Basis[0][1]) +
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WWMath::Fabs(Extent[2] * Basis[0][2]);
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set_extent->Y = WWMath::Fabs(Extent[0] * Basis[1][0]) +
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WWMath::Fabs(Extent[1] * Basis[1][1]) +
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WWMath::Fabs(Extent[2] * Basis[1][2]);
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set_extent->Z = WWMath::Fabs(Extent[0] * Basis[2][0]) +
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WWMath::Fabs(Extent[1] * Basis[2][1]) +
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WWMath::Fabs(Extent[2] * Basis[2][2]);
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}
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/***********************************************************************************************
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* OBBoxClass::operator== -- Comparison operator *
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* *
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* INPUT: *
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* *
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* OUTPUT: *
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* *
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* WARNINGS: *
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* *
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* HISTORY: *
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* 6/21/00 PDS : Created. *
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*=============================================================================================*/
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inline bool OBBoxClass::operator== (const OBBoxClass &src)
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{
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return (Center == src.Center) && (Extent == src.Extent) && (Basis == src.Basis);
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}
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/***********************************************************************************************
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* OBBoxClass::operator!= -- Comparison operator *
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* *
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* INPUT: *
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* *
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* OUTPUT: *
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* *
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* WARNINGS: *
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* *
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* HISTORY: *
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* 6/21/00 PDS : Created. *
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*=============================================================================================*/
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inline bool OBBoxClass::operator!= (const OBBoxClass &src)
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{
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return (Center != src.Center) || (Extent != src.Extent) && (Basis == src.Basis);
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}
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#endif
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