Make AABB methods inline
This commit is contained in:
Daniel Chappuis
parent
860bc8b091
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@ -217,6 +217,102 @@ RP3D_FORCE_INLINE AABB& AABB::operator=(const AABB& aabb) {
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return *this;
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return *this;
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}
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}
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// Merge the AABB in parameter with the current one
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RP3D_FORCE_INLINE void AABB::mergeWithAABB(const AABB& aabb) {
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mMinCoordinates.x = std::min(mMinCoordinates.x, aabb.mMinCoordinates.x);
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mMinCoordinates.y = std::min(mMinCoordinates.y, aabb.mMinCoordinates.y);
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mMinCoordinates.z = std::min(mMinCoordinates.z, aabb.mMinCoordinates.z);
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mMaxCoordinates.x = std::max(mMaxCoordinates.x, aabb.mMaxCoordinates.x);
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mMaxCoordinates.y = std::max(mMaxCoordinates.y, aabb.mMaxCoordinates.y);
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mMaxCoordinates.z = std::max(mMaxCoordinates.z, aabb.mMaxCoordinates.z);
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}
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// Replace the current AABB with a new AABB that is the union of two AABBs in parameters
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RP3D_FORCE_INLINE void AABB::mergeTwoAABBs(const AABB& aabb1, const AABB& aabb2) {
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mMinCoordinates.x = std::min(aabb1.mMinCoordinates.x, aabb2.mMinCoordinates.x);
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mMinCoordinates.y = std::min(aabb1.mMinCoordinates.y, aabb2.mMinCoordinates.y);
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mMinCoordinates.z = std::min(aabb1.mMinCoordinates.z, aabb2.mMinCoordinates.z);
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mMaxCoordinates.x = std::max(aabb1.mMaxCoordinates.x, aabb2.mMaxCoordinates.x);
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mMaxCoordinates.y = std::max(aabb1.mMaxCoordinates.y, aabb2.mMaxCoordinates.y);
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mMaxCoordinates.z = std::max(aabb1.mMaxCoordinates.z, aabb2.mMaxCoordinates.z);
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}
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// Return true if the current AABB contains the AABB given in parameter
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RP3D_FORCE_INLINE bool AABB::contains(const AABB& aabb) const {
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bool isInside = true;
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isInside = isInside && mMinCoordinates.x <= aabb.mMinCoordinates.x;
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isInside = isInside && mMinCoordinates.y <= aabb.mMinCoordinates.y;
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isInside = isInside && mMinCoordinates.z <= aabb.mMinCoordinates.z;
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isInside = isInside && mMaxCoordinates.x >= aabb.mMaxCoordinates.x;
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isInside = isInside && mMaxCoordinates.y >= aabb.mMaxCoordinates.y;
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isInside = isInside && mMaxCoordinates.z >= aabb.mMaxCoordinates.z;
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return isInside;
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}
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// Create and return an AABB for a triangle
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RP3D_FORCE_INLINE AABB AABB::createAABBForTriangle(const Vector3* trianglePoints) {
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Vector3 minCoords(trianglePoints[0].x, trianglePoints[0].y, trianglePoints[0].z);
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Vector3 maxCoords(trianglePoints[0].x, trianglePoints[0].y, trianglePoints[0].z);
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if (trianglePoints[1].x < minCoords.x) minCoords.x = trianglePoints[1].x;
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if (trianglePoints[1].y < minCoords.y) minCoords.y = trianglePoints[1].y;
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if (trianglePoints[1].z < minCoords.z) minCoords.z = trianglePoints[1].z;
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if (trianglePoints[2].x < minCoords.x) minCoords.x = trianglePoints[2].x;
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if (trianglePoints[2].y < minCoords.y) minCoords.y = trianglePoints[2].y;
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if (trianglePoints[2].z < minCoords.z) minCoords.z = trianglePoints[2].z;
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if (trianglePoints[1].x > maxCoords.x) maxCoords.x = trianglePoints[1].x;
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if (trianglePoints[1].y > maxCoords.y) maxCoords.y = trianglePoints[1].y;
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if (trianglePoints[1].z > maxCoords.z) maxCoords.z = trianglePoints[1].z;
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if (trianglePoints[2].x > maxCoords.x) maxCoords.x = trianglePoints[2].x;
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if (trianglePoints[2].y > maxCoords.y) maxCoords.y = trianglePoints[2].y;
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if (trianglePoints[2].z > maxCoords.z) maxCoords.z = trianglePoints[2].z;
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return AABB(minCoords, maxCoords);
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}
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// Return true if the ray intersects the AABB
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/// This method use the line vs AABB raycasting technique (SAT algorithm) described in
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/// Real-time Collision Detection by Christer Ericson.
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RP3D_FORCE_INLINE bool AABB::testRayIntersect(const Ray& ray) const {
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const Vector3 point2 = ray.point1 + ray.maxFraction * (ray.point2 - ray.point1);
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const Vector3 e = mMaxCoordinates - mMinCoordinates;
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const Vector3 d = point2 - ray.point1;
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const Vector3 m = ray.point1 + point2 - mMinCoordinates - mMaxCoordinates;
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// Test if the AABB face normals are separating axis
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decimal adx = std::abs(d.x);
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if (std::abs(m.x) > e.x + adx) return false;
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decimal ady = std::abs(d.y);
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if (std::abs(m.y) > e.y + ady) return false;
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decimal adz = std::abs(d.z);
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if (std::abs(m.z) > e.z + adz) return false;
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// Add in an epsilon term to counteract arithmetic errors when segment is
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// (near) parallel to a coordinate axis
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const decimal epsilon = 0.00001;
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adx += epsilon;
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ady += epsilon;
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adz += epsilon;
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// Test if the cross products between face normals and ray direction are
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// separating axis
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if (std::abs(m.y * d.z - m.z * d.y) > e.y * adz + e.z * ady) return false;
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if (std::abs(m.z * d.x - m.x * d.z) > e.x * adz + e.z * adx) return false;
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if (std::abs(m.x * d.y - m.y * d.x) > e.x * ady + e.y * adx) return false;
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// No separating axis has been found
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return true;
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}
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}
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}
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#endif
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#endif
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@ -42,99 +42,3 @@ AABB::AABB(const AABB& aabb)
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: mMinCoordinates(aabb.mMinCoordinates), mMaxCoordinates(aabb.mMaxCoordinates) {
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: mMinCoordinates(aabb.mMinCoordinates), mMaxCoordinates(aabb.mMaxCoordinates) {
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}
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}
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// Merge the AABB in parameter with the current one
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void AABB::mergeWithAABB(const AABB& aabb) {
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mMinCoordinates.x = std::min(mMinCoordinates.x, aabb.mMinCoordinates.x);
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mMinCoordinates.y = std::min(mMinCoordinates.y, aabb.mMinCoordinates.y);
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mMinCoordinates.z = std::min(mMinCoordinates.z, aabb.mMinCoordinates.z);
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mMaxCoordinates.x = std::max(mMaxCoordinates.x, aabb.mMaxCoordinates.x);
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mMaxCoordinates.y = std::max(mMaxCoordinates.y, aabb.mMaxCoordinates.y);
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mMaxCoordinates.z = std::max(mMaxCoordinates.z, aabb.mMaxCoordinates.z);
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}
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// Replace the current AABB with a new AABB that is the union of two AABBs in parameters
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void AABB::mergeTwoAABBs(const AABB& aabb1, const AABB& aabb2) {
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mMinCoordinates.x = std::min(aabb1.mMinCoordinates.x, aabb2.mMinCoordinates.x);
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mMinCoordinates.y = std::min(aabb1.mMinCoordinates.y, aabb2.mMinCoordinates.y);
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mMinCoordinates.z = std::min(aabb1.mMinCoordinates.z, aabb2.mMinCoordinates.z);
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mMaxCoordinates.x = std::max(aabb1.mMaxCoordinates.x, aabb2.mMaxCoordinates.x);
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mMaxCoordinates.y = std::max(aabb1.mMaxCoordinates.y, aabb2.mMaxCoordinates.y);
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mMaxCoordinates.z = std::max(aabb1.mMaxCoordinates.z, aabb2.mMaxCoordinates.z);
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}
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// Return true if the current AABB contains the AABB given in parameter
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bool AABB::contains(const AABB& aabb) const {
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bool isInside = true;
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isInside = isInside && mMinCoordinates.x <= aabb.mMinCoordinates.x;
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isInside = isInside && mMinCoordinates.y <= aabb.mMinCoordinates.y;
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isInside = isInside && mMinCoordinates.z <= aabb.mMinCoordinates.z;
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isInside = isInside && mMaxCoordinates.x >= aabb.mMaxCoordinates.x;
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isInside = isInside && mMaxCoordinates.y >= aabb.mMaxCoordinates.y;
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isInside = isInside && mMaxCoordinates.z >= aabb.mMaxCoordinates.z;
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return isInside;
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}
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// Create and return an AABB for a triangle
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AABB AABB::createAABBForTriangle(const Vector3* trianglePoints) {
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Vector3 minCoords(trianglePoints[0].x, trianglePoints[0].y, trianglePoints[0].z);
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Vector3 maxCoords(trianglePoints[0].x, trianglePoints[0].y, trianglePoints[0].z);
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if (trianglePoints[1].x < minCoords.x) minCoords.x = trianglePoints[1].x;
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if (trianglePoints[1].y < minCoords.y) minCoords.y = trianglePoints[1].y;
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if (trianglePoints[1].z < minCoords.z) minCoords.z = trianglePoints[1].z;
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if (trianglePoints[2].x < minCoords.x) minCoords.x = trianglePoints[2].x;
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if (trianglePoints[2].y < minCoords.y) minCoords.y = trianglePoints[2].y;
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if (trianglePoints[2].z < minCoords.z) minCoords.z = trianglePoints[2].z;
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if (trianglePoints[1].x > maxCoords.x) maxCoords.x = trianglePoints[1].x;
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if (trianglePoints[1].y > maxCoords.y) maxCoords.y = trianglePoints[1].y;
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if (trianglePoints[1].z > maxCoords.z) maxCoords.z = trianglePoints[1].z;
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if (trianglePoints[2].x > maxCoords.x) maxCoords.x = trianglePoints[2].x;
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if (trianglePoints[2].y > maxCoords.y) maxCoords.y = trianglePoints[2].y;
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if (trianglePoints[2].z > maxCoords.z) maxCoords.z = trianglePoints[2].z;
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return AABB(minCoords, maxCoords);
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}
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// Return true if the ray intersects the AABB
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/// This method use the line vs AABB raycasting technique described in
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/// Real-time Collision Detection by Christer Ericson.
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bool AABB::testRayIntersect(const Ray& ray) const {
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const Vector3 point2 = ray.point1 + ray.maxFraction * (ray.point2 - ray.point1);
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const Vector3 e = mMaxCoordinates - mMinCoordinates;
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const Vector3 d = point2 - ray.point1;
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const Vector3 m = ray.point1 + point2 - mMinCoordinates - mMaxCoordinates;
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// Test if the AABB face normals are separating axis
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decimal adx = std::abs(d.x);
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if (std::abs(m.x) > e.x + adx) return false;
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decimal ady = std::abs(d.y);
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if (std::abs(m.y) > e.y + ady) return false;
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decimal adz = std::abs(d.z);
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if (std::abs(m.z) > e.z + adz) return false;
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// Add in an epsilon term to counteract arithmetic errors when segment is
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// (near) parallel to a coordinate axis (see text for detail)
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const decimal epsilon = 0.00001;
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adx += epsilon;
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ady += epsilon;
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adz += epsilon;
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// Test if the cross products between face normals and ray direction are
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// separating axis
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if (std::abs(m.y * d.z - m.z * d.y) > e.y * adz + e.z * ady) return false;
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if (std::abs(m.z * d.x - m.x * d.z) > e.x * adz + e.z * adx) return false;
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if (std::abs(m.x * d.y - m.y * d.x) > e.x * ady + e.y * adx) return false;
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// No separating axis has been found
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return true;
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}
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