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l3lib/l3lib_gp2x/ll3d_geo3.h

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///////////////////////////////////////////////////////////////////////////////
//
// ## ######
// ###### ### Based on:
// ## ###############
// ########## # # # Shark 3D Engine (www.shark3d.com)
// ########
// ######### # # # Copyright (c) 1996-2001 Spinor GmbH.
// ## ##########
// ##
//
///////////////////////////////////////////////////////////////////////////////
//
// G A M E.O.N.E - LOW LEVEL LIB V1.0
// Copyright (C) 2001 LEVEL ONE ENTERTAINMENT,
// Licensed under the terms of LGPL.
//:---------------------------------------------------------------------------
//:Description
//
// LOW LEVEL 3D GEO3 UTIL HEADERFILE
//
//:---------------------------------------------------------------------------
#ifndef _LL3D_GEO3_H
#define _LL3D_GEO3_H
#include "ll3d_math.h"
#include "ll3d_vec3.h"
#include "ll3d_vec4.h"
namespace ll3d {
template<typename T> struct CGeo3;
typedef CGeo3<float> CGeo3f;
typedef CGeo3<double> CGeo3d;
/*
* Geometric Tests
*/
template<typename T>
struct CGeo3
{
// Is the unit box transformed by Bound
// touching the box of extension Extend?
// If the box is smaller than Prec in transformed coordinates,
// return false.
static bool IsUnitBoxTouchingBound(
const CMat4x4<T> &Bound,
const CVec3<T> &Extend, const CVec3<T> &Prec);
// Is the box transformed by Bound
// touching the box of extension Extend?
// If the box is smaller than Prec in transformed coordinates,
// return false.
static bool IsAlignedBoxTouchingBound(
const CVec3<T> &BoxCenter,
const CVec3<T> &BoxExtend,
const CMat4x4<T> &Bound,
const CVec3<T> &Extend, const CVec3<T> &Prec);
// Is the box transformed by Bound
// touching the box of extension Extend?
// If the box is smaller than Prec in transformed coordinates,
// return false.
static bool IsFreeBoxTouchingBound(
const CVec3<T> &BoxCenter,
const CMat3x3<T> &BoxExtend,
const CMat4x4<T> &Bound,
const CVec3<T> &Extend, const CVec3<T> &Prec);
static bool IsAlignedBoxTouchingLine(
const CVec3<T> &BoxCenter,
const CVec3<T> &BoxExtend,
const CVec3<T> &Start, const CVec3<T> &End);
static bool IsFreeBoxTouchingLine(
const CVec3<T> &BoxCenter,
const CMat3x3<T> &BoxExtend,
const CVec3<T> &Start, const CVec3<T> &End);
};
/*
* Inplementation
*/
template<typename T>
bool CGeo3<T>::IsUnitBoxTouchingBound(
const CMat4x4<T> &Bound,
const CVec3<T> &Extend, const CVec3<T> &Prec)
{
float RefXX = Bound.m_wx * Extend.m_x;
float RefXY = Bound.m_wy * Extend.m_x;
float RefXZ = Bound.m_wz * Extend.m_x;
float RefXW = Bound.m_ww * Extend.m_x;
if(RefXW + Bound.m_xw
+ Abs(RefXX + Bound.m_xx)
+ Abs(RefXY + Bound.m_xy)
+ Abs(RefXZ + Bound.m_xz) <= 0)
return false;
if(RefXW - Bound.m_xw
+ Abs(RefXX - Bound.m_xx)
+ Abs(RefXY - Bound.m_xy)
+ Abs(RefXZ - Bound.m_xz) <= 0)
return false;
float RefYX = Bound.m_wx * Extend.m_y;
float RefYY = Bound.m_wy * Extend.m_y;
float RefYZ = Bound.m_wz * Extend.m_y;
float RefYW = Bound.m_ww * Extend.m_y;
if(RefYW + Bound.m_yw
+ Abs(RefYX + Bound.m_yx)
+ Abs(RefYY + Bound.m_yy)
+ Abs(RefYZ + Bound.m_yz) <= 0)
return false;
if(RefYW - Bound.m_yw
+ Abs(RefYX - Bound.m_yx)
+ Abs(RefYY - Bound.m_yy)
+ Abs(RefYZ - Bound.m_yz) <= 0)
return false;
float RefZX = Bound.m_wx * Extend.m_z;
float RefZY = Bound.m_wy * Extend.m_z;
float RefZZ = Bound.m_wz * Extend.m_z;
float RefZW = Bound.m_ww * Extend.m_z;
if(RefZW + Bound.m_zw
+ Abs(RefZX + Bound.m_zx)
+ Abs(RefZY + Bound.m_zy)
+ Abs(RefZZ + Bound.m_zz) <= 0)
return false;
if(RefZW - Bound.m_zw
+ Abs(RefZX - Bound.m_zx)
+ Abs(RefZY - Bound.m_zy)
+ Abs(RefZZ - Bound.m_zz) <= 0)
return false;
float MinW = Bound.m_ww
- Abs(Bound.m_wx)
- Abs(Bound.m_wy)
- Abs(Bound.m_wz);
if(MinW > 0)
{
bool Ok = false;
if(Prec.m_x < FLT_MAX)
{
float ExtX = Abs(Bound.m_xx)
+ Abs(Bound.m_xy)
+ Abs(Bound.m_xz);
if(ExtX >= Prec.m_x * MinW)
Ok = true;
}
if(Prec.m_y > 0)
{
float ExtY = Abs(Bound.m_yx)
+ Abs(Bound.m_yy)
+ Abs(Bound.m_yz);
if(ExtY >= Prec.m_y * MinW)
Ok = true;
}
if(Prec.m_z > 0)
{
float ExtZ = Abs(Bound.m_zx)
+ Abs(Bound.m_zy)
+ Abs(Bound.m_zz);
if(ExtZ >= Prec.m_z * MinW)
Ok = true;
}
if(!Ok)
return false;
}
return true;
}
template<typename T>
bool CGeo3<T>::IsAlignedBoxTouchingBound(
const CVec3<T> &BoxCenter,
const CVec3<T> &BoxExtend,
const CMat4x4<T> &Bound,
const CVec3<T> &Extend, const CVec3<T> &Prec)
{
CMat4x4f EffBound;
EffBound.SetSubVV(Bound.GetSubVV().GetScaledCols(BoxExtend));
EffBound.SetSubWV(Bound.GetSubWV().CompProd(BoxExtend));
EffBound.SetSubVW(Bound.ProdOneV(BoxCenter));
EffBound.SetSubWW(Bound.ProdOneW(BoxCenter));
return IsUnitBoxTouchingBound(EffBound, Extend, Prec);
}
template<typename T>
bool CGeo3<T>::IsFreeBoxTouchingBound(
const CVec3<T> &BoxCenter,
const CMat3x3<T> &BoxExtend,
const CMat4x4<T> &Bound,
const CVec3<T> &Extend, const CVec3<T> &Prec)
{
CMat4x4f EffBound;
EffBound.SetSubVV(Bound.GetSubVV() * BoxExtend);
EffBound.SetSubWV(Bound.GetSubWV() * BoxExtend);
EffBound.SetSubVW(Bound.ProdOneV(BoxCenter));
EffBound.SetSubWW(Bound.ProdOneW(BoxCenter));
return IsUnitBoxTouchingBound(EffBound, Extend, Prec);
}
template<typename T>
bool CGeo3<T>::IsAlignedBoxTouchingLine(
const CVec3<T> &BoxCenter, const CVec3<T> &BoxExtend,
const CVec3<T> &Start, const CVec3<T> &End)
{
CVec3f EffStart = Start - BoxCenter;
CVec3f EffEnd = End - BoxCenter;
CVec3f EffMin = EffStart.CompMin(EffEnd);
CVec3f EffMax = EffStart.CompMax(EffEnd);
if(EffMax.IsAnyCompLe( - BoxExtend))
return false;
if(EffMin.IsAnyCompGe(BoxExtend))
return false;
float GradX = EffEnd.m_x - EffStart.m_x;
float FrontDistX, BackDistX;
if(GradX > 0)
{
FrontDistX = - EffStart.m_x - BoxExtend.m_x;
BackDistX = - EffStart.m_x + BoxExtend.m_x;
}
else
{
GradX = - GradX;
FrontDistX = EffStart.m_x - BoxExtend.m_x;
BackDistX = EffStart.m_x + BoxExtend.m_x;
}
float GradY = EffEnd.m_y - EffStart.m_y;
float FrontDistY, BackDistY;
if(GradY > 0)
{
FrontDistY = - EffStart.m_y - BoxExtend.m_y;
BackDistY = - EffStart.m_y + BoxExtend.m_y;
}
else
{
GradY = - GradY;
FrontDistY = EffStart.m_y - BoxExtend.m_y;
BackDistY = EffStart.m_y + BoxExtend.m_y;
}
float GradZ = EffEnd.m_z - EffStart.m_z;
float FrontDistZ, BackDistZ;
if(GradZ > 0)
{
FrontDistZ = - EffStart.m_z - BoxExtend.m_z;
BackDistZ = - EffStart.m_z + BoxExtend.m_z;
}
else
{
GradZ = - GradZ;
FrontDistZ = EffStart.m_z - BoxExtend.m_z;
BackDistZ = EffStart.m_z + BoxExtend.m_z;
}
if(FrontDistX > GradX)
return false;
if(FrontDistY > GradY)
return false;
if(FrontDistZ > GradZ)
return false;
float FrontGrad = 1;
float FrontDist = 0;
float CVec3f::*Side = 0;
if(FrontDistX * FrontGrad > FrontDist * GradX)
{
FrontGrad = GradX;
FrontDist = FrontDistX;
Side = &CVec3f::m_x;
}
if(FrontDistY * FrontGrad > FrontDist * GradY)
{
FrontGrad = GradY;
FrontDist = FrontDistY;
Side = &CVec3f::m_y;
}
if(FrontDistZ * FrontGrad > FrontDist * GradZ)
{
FrontGrad = GradZ;
FrontDist = FrontDistZ;
Side = &CVec3f::m_z;
}
if(Side != &CVec3f::m_x)
{
if(FrontDist * GradX > BackDistX * FrontGrad)
return false;
}
if(Side != &CVec3f::m_y)
{
if(FrontDist * GradY > BackDistY * FrontGrad)
return false;
}
if(Side != &CVec3f::m_z)
{
if(FrontDist * GradZ > BackDistZ * FrontGrad)
return false;
}
return true;
}
template<typename T>
bool CGeo3<T>::IsFreeBoxTouchingLine(
const CVec3<T> &BoxCenter,
const CMat3x3<T> &BoxExtend,
const CVec3<T> &Start, const CVec3<T> &End)
{
CVec3f EffBoxExtend(1, 1, 1);
CVec3f DirX = BoxExtend.GetColX();
CVec3f DirY = BoxExtend.GetColY();
CVec3f DirZ = BoxExtend.GetColZ();
float DirXSq = DirX.GetSqLen();
float DirYSq = DirY.GetSqLen();
float DirZSq = DirZ.GetSqLen();
float Delta = FLT_EPSILON * (DirXSq + DirYSq + DirZSq);
if(DirXSq < Delta)
{
DirX = DirY ^ DirZ;
EffBoxExtend.m_x = 0;
}
if(DirYSq < Delta)
{
DirY = DirZ ^ DirX;
EffBoxExtend.m_y = 0;
}
if(DirZSq < Delta)
{
DirZ = DirX ^ DirY;
EffBoxExtend.m_z = 0;
}
CMat3x3f Mat = CMat3x3f::ByCols(DirX, DirY, DirZ);
float Det = Mat.GetDet();
if(Det > 0)
{
CMat3x3f InvMat = Mat.GetSubDet().GetTransposed() / Det;
CVec3f EffStart = InvMat * Start;
CVec3f EffEnd = InvMat * End;
CVec3f EffBoxCenter = InvMat * BoxCenter;
return IsAlignedBoxTouchingLine(EffBoxCenter, EffBoxExtend,
EffStart, EffEnd);
}
else
return false;
}
}//namespace ll3d
#endif //_LL3D_GEO3_H
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