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author Branimir Karadzic <branimirkaradzic@gmail.com>2016-01-04 19:00:51 +0100
committer Miodrag Milanovic <mmicko@gmail.com>2016-01-04 19:00:51 +0100
commitfc07cc3621be84d6b54b9a02f946ca9e33272758 (patch)
tree8e906945079bd6b41eb6051a2b71f0f196c06c04 /3rdparty/bgfx/examples/common/bounds.cpp
parent3f4fe77c75571ff17436909c3e579da27b646368 (diff)
Added latest BX and BGFX (nw)
Diffstat (limited to '3rdparty/bgfx/examples/common/bounds.cpp')
-rw-r--r--3rdparty/bgfx/examples/common/bounds.cpp356
1 files changed, 333 insertions, 23 deletions
diff --git a/3rdparty/bgfx/examples/common/bounds.cpp b/3rdparty/bgfx/examples/common/bounds.cpp
index 8fc91b63e99..d2228e7eb63 100644
--- a/3rdparty/bgfx/examples/common/bounds.cpp
+++ b/3rdparty/bgfx/examples/common/bounds.cpp
@@ -1,6 +1,6 @@
/*
- * Copyright 2011-2015 Branimir Karadzic. All rights reserved.
- * License: http://www.opensource.org/licenses/BSD-2-Clause
+ * Copyright 2011-2016 Branimir Karadzic. All rights reserved.
+ * License: https://github.com/bkaradzic/bgfx#license-bsd-2-clause
*/
#include <bx/rng.h>
@@ -21,16 +21,9 @@ void aabbToObb(Obb& _obb, const Aabb& _aabb)
void sphereToAabb(Aabb& _aabb, const Sphere& _sphere)
{
- float xx = _sphere.m_center[0];
- float yy = _sphere.m_center[1];
- float zz = _sphere.m_center[2];
float radius = _sphere.m_radius;
- _aabb.m_min[0] = xx - radius;
- _aabb.m_min[1] = yy - radius;
- _aabb.m_min[2] = zz - radius;
- _aabb.m_max[0] = xx + radius;
- _aabb.m_max[1] = yy + radius;
- _aabb.m_max[2] = zz + radius;
+ bx::vec3Sub(_aabb.m_min, _sphere.m_center, radius);
+ bx::vec3Add(_aabb.m_max, _sphere.m_center, radius);
}
void aabbTransformToObb(Obb& _obb, const Aabb& _aabb, const float* _mtx)
@@ -129,7 +122,7 @@ void aabbExpand(Aabb& _aabb, float _factor)
_aabb.m_max[2] += _factor;
}
-uint32_t aabbOverlapTest(Aabb& _aabb0, Aabb& _aabb1)
+uint32_t aabbOverlapTest(const Aabb& _aabb0, const Aabb& _aabb1)
{
const uint32_t ltMinX = _aabb0.m_max[0] < _aabb1.m_min[0];
const uint32_t gtMaxX = _aabb0.m_min[0] > _aabb1.m_max[0];
@@ -222,9 +215,7 @@ void calcMaxBoundingSphere(Sphere& _sphere, const void* _vertices, uint32_t _num
maxDistSq = bx::fmax(distSq, maxDistSq);
}
- _sphere.m_center[0] = center[0];
- _sphere.m_center[1] = center[1];
- _sphere.m_center[2] = center[2];
+ bx::vec3Move(_sphere.m_center, center);
_sphere.m_radius = sqrtf(maxDistSq);
}
@@ -236,9 +227,7 @@ void calcMinBoundingSphere(Sphere& _sphere, const void* _vertices, uint32_t _num
float center[3];
float* position = (float*)&vertex[0];
- center[0] = position[0];
- center[1] = position[1];
- center[2] = position[2];
+ bx::vec3Move(center, position);
position = (float*)&vertex[1*_stride];
center[0] += position[0];
@@ -257,7 +246,7 @@ void calcMinBoundingSphere(Sphere& _sphere, const void* _vertices, uint32_t _num
float radiusStep = _step * 0.37f;
bool done;
- do
+ do
{
done = true;
for (uint32_t ii = 0, index = rng.gen()%_numVertices; ii < _numVertices; ++ii, index = (index + 1)%_numVertices)
@@ -284,8 +273,329 @@ void calcMinBoundingSphere(Sphere& _sphere, const void* _vertices, uint32_t _num
} while (!done);
- _sphere.m_center[0] = center[0];
- _sphere.m_center[1] = center[1];
- _sphere.m_center[2] = center[2];
- _sphere.m_radius = sqrtf(maxDistSq);
+ bx::vec3Move(_sphere.m_center, center);
+ _sphere.m_radius = bx::fsqrt(maxDistSq);
+}
+
+Ray makeRay(float _x, float _y, const float* _invVp)
+{
+ Ray ray;
+
+ const float near[3] = { _x, _y, 0.0f };
+ bx::vec3MulMtxH(ray.m_pos, near, _invVp);
+
+ float tmp[3];
+ const float far[3] = { _x, _y, 1.0f };
+ bx::vec3MulMtxH(tmp, far, _invVp);
+
+ float dir[3];
+ bx::vec3Sub(dir, tmp, ray.m_pos);
+ bx::vec3Norm(ray.m_dir, dir);
+
+ return ray;
+}
+
+inline void getPointAt(float* _result, const Ray& _ray, float _t)
+{
+ float tmp[3];
+ bx::vec3Mul(tmp, _ray.m_dir, _t);
+ bx::vec3Add(_result, _ray.m_pos, tmp);
+}
+
+bool intersect(const Ray& _ray, const Aabb& _aabb, Intersection* _intersection)
+{
+ float invDir[3];
+ bx::vec3Rcp(invDir, _ray.m_dir);
+
+ float tmp[3];
+
+ float t0[3];
+ bx::vec3Sub(tmp, _aabb.m_min, _ray.m_pos);
+ bx::vec3Mul(t0, tmp, invDir);
+
+ float t1[3];
+ bx::vec3Sub(tmp, _aabb.m_max, _ray.m_pos);
+ bx::vec3Mul(t1, tmp, invDir);
+
+ float min[3];
+ bx::vec3Min(min, t0, t1);
+
+ float max[3];
+ bx::vec3Max(max, t0, t1);
+
+ const float tmin = bx::fmax3(min[0], min[1], min[2]);
+ const float tmax = bx::fmin3(max[0], max[1], max[2]);
+
+ if (tmax < 0.0f
+ || tmin > tmax)
+ {
+ return false;
+ }
+
+ if (NULL != _intersection)
+ {
+ _intersection->m_normal[0] = float( (min[0] == tmin) - (max[0] == tmin) );
+ _intersection->m_normal[1] = float( (min[1] == tmin) - (max[1] == tmin) );
+ _intersection->m_normal[2] = float( (min[2] == tmin) - (max[2] == tmin) );
+
+ _intersection->m_dist = tmin;
+ getPointAt(_intersection->m_pos, _ray, tmin);
+ }
+
+ return true;
+}
+
+bool intersect(const Ray& _ray, const Disk& _disk, Intersection* _intersection)
+{
+ Plane plane;
+ bx::vec3Move(plane.m_normal, _disk.m_normal);
+ plane.m_dist = -bx::vec3Dot(_disk.m_center, _disk.m_normal);
+
+ Intersection tmpIntersection;
+ _intersection = NULL != _intersection ? _intersection : &tmpIntersection;
+
+ if (intersect(_ray, plane, _intersection) )
+ {
+ float tmp[3];
+ bx::vec3Sub(tmp, _disk.m_center, _intersection->m_pos);
+ return bx::vec3Dot(tmp, tmp) <= bx::fsq(_disk.m_radius);
+ }
+
+ return false;
+}
+
+bool intersect(const Ray& _ray, const Cylinder& _cylinder, bool _capsule, Intersection* _intersection)
+{
+ float axis[3];
+ bx::vec3Sub(axis, _cylinder.m_end, _cylinder.m_pos);
+
+ float rc[3];
+ bx::vec3Sub(rc, _ray.m_pos, _cylinder.m_pos);
+
+ float normal[3];
+ bx::vec3Cross(normal, _ray.m_dir, axis);
+
+ const float len = bx::vec3Norm(normal, normal);
+ const float dist = bx::fabsolute(bx::vec3Dot(rc, normal) );
+
+ if (dist > _cylinder.m_radius)
+ {
+ return false;
+ }
+
+ float vo[3];
+ bx::vec3Cross(vo, rc, axis);
+ const float t0 = -bx::vec3Dot(vo, normal) / len;
+
+ bx::vec3Cross(vo, normal, axis);
+ bx::vec3Norm(vo, vo);
+
+ const float rsq = bx::fsq(_cylinder.m_radius);
+ const float ddoto = bx::vec3Dot(_ray.m_dir, vo);
+ const float ss = t0 - bx::fabsolute(bx::fsqrt(rsq - bx::fsq(dist) ) / ddoto);
+
+ float point[3];
+ getPointAt(point, _ray, ss);
+
+ const float axisLen = bx::vec3Norm(axis, axis);
+ const float pdota = bx::vec3Dot(_cylinder.m_pos, axis);
+ const float height = bx::vec3Dot(point, axis) - pdota;
+
+ if (height > 0.0f
+ && height < axisLen)
+ {
+ if (NULL != _intersection)
+ {
+ const float t1 = height / axisLen;
+ float pointOnAxis[3];
+ bx::vec3Lerp(pointOnAxis, _cylinder.m_pos, _cylinder.m_end, t1);
+
+ bx::vec3Move(_intersection->m_pos, point);
+
+ float tmp[3];
+ bx::vec3Sub(tmp, point, pointOnAxis);
+ bx::vec3Norm(_intersection->m_normal, tmp);
+
+ _intersection->m_dist = ss;
+ }
+
+ return true;
+ }
+
+ if (_capsule)
+ {
+ const float rdota = bx::vec3Dot(_ray.m_pos, axis);
+ const float pp = rdota - pdota;
+ const float t1 = pp / axisLen;
+
+ float pointOnAxis[3];
+ bx::vec3Lerp(pointOnAxis, _cylinder.m_pos, _cylinder.m_end, t1);
+
+ float axisToRay[3];
+ bx::vec3Sub(axisToRay, _ray.m_pos, pointOnAxis);
+
+ if (_cylinder.m_radius < bx::vec3Length(axisToRay)
+ && 0.0f > ss)
+ {
+ return false;
+ }
+
+ Sphere sphere;
+ sphere.m_radius = _cylinder.m_radius;
+
+ bx::vec3Move(sphere.m_center, 0.0f >= height
+ ? _cylinder.m_pos
+ : _cylinder.m_end
+ );
+
+ return intersect(_ray, sphere, _intersection);
+ }
+
+ Plane plane;
+ float pos[3];
+
+ if (0.0f >= height)
+ {
+ bx::vec3Neg(plane.m_normal, axis);
+ bx::vec3Move(pos, _cylinder.m_pos);
+ }
+ else
+ {
+ bx::vec3Move(plane.m_normal, axis);
+ bx::vec3Move(pos, _cylinder.m_end);
+ }
+
+ plane.m_dist = -bx::vec3Dot(pos, plane.m_normal);
+
+ Intersection tmpIntersection;
+ _intersection = NULL != _intersection ? _intersection : &tmpIntersection;
+
+ if (intersect(_ray, plane, _intersection) )
+ {
+ float tmp[3];
+ bx::vec3Sub(tmp, pos, _intersection->m_pos);
+ return bx::vec3Dot(tmp, tmp) <= rsq;
+ }
+
+ return false;
+}
+
+bool intersect(const Ray& _ray, const Plane& _plane, Intersection* _intersection)
+{
+ float equation = bx::vec3Dot(_ray.m_pos, _plane.m_normal) + _plane.m_dist;
+ if (0.0f > equation)
+ {
+ return false;
+ }
+
+ float ndotd = bx::vec3Dot(_ray.m_dir, _plane.m_normal);
+ if (0.0f < ndotd)
+ {
+ return false;
+ }
+
+ if (NULL != _intersection)
+ {
+ bx::vec3Move(_intersection->m_normal, _plane.m_normal);
+
+ float tt = -equation/ndotd;
+ _intersection->m_dist = tt;
+
+ getPointAt(_intersection->m_pos, _ray, tt);
+ }
+
+ return true;
+}
+
+bool intersect(const Ray& _ray, const Sphere& _sphere, Intersection* _intersection)
+{
+ float rs[3];
+ bx::vec3Sub(rs, _ray.m_pos, _sphere.m_center);
+
+ const float bb = bx::vec3Dot(rs, _ray.m_dir);
+ if (0.0f < bb)
+ {
+ return false;
+ }
+
+ const float aa = bx::vec3Dot(_ray.m_dir, _ray.m_dir);
+ const float cc = bx::vec3Dot(rs, rs) - bx::fsq(_sphere.m_radius);
+
+ const float discriminant = bb*bb - aa*cc;
+
+ if (0.0f >= discriminant)
+ {
+ return false;
+ }
+
+ const float sqrtDiscriminant = bx::fsqrt(discriminant);
+ const float invA = 1.0f / aa;
+ const float tt = -(bb + sqrtDiscriminant)*invA;
+
+ if (0.0f >= tt)
+ {
+ return false;
+ }
+
+ if (NULL != _intersection)
+ {
+ _intersection->m_dist = tt;
+
+ float point[3];
+ getPointAt(point, _ray, tt);
+ bx::vec3Move(_intersection->m_pos, point);
+
+ float tmp[3];
+ bx::vec3Sub(tmp, point, _sphere.m_center);
+ bx::vec3Norm(_intersection->m_normal, tmp);
+ }
+
+ return true;
+}
+
+bool intersect(const Ray& _ray, const Tris& _triangle, Intersection* _intersection)
+{
+ float edge10[3];
+ bx::vec3Sub(edge10, _triangle.m_v1, _triangle.m_v0);
+
+ float edge02[3];
+ bx::vec3Sub(edge02, _triangle.m_v0, _triangle.m_v2);
+
+ float normal[3];
+ bx::vec3Cross(normal, edge02, edge10);
+
+ float vo[3];
+ bx::vec3Sub(vo, _triangle.m_v0, _ray.m_pos);
+
+ float dxo[3];
+ bx::vec3Cross(dxo, _ray.m_dir, vo);
+
+ const float det = bx::vec3Dot(normal, _ray.m_dir);
+
+ if (det > 0.0f)
+ {
+ return false;
+ }
+
+ const float invDet = 1.0f/det;
+ const float bz = bx::vec3Dot(dxo, edge02) * invDet;
+ const float by = bx::vec3Dot(dxo, edge10) * invDet;
+ const float bx = 1.0f - by - bz;
+
+ if (bx < 0.0f || by < 0.0f || bz < 0.0f)
+ {
+ return false;
+ }
+
+ if (NULL != _intersection)
+ {
+ bx::vec3Norm(_intersection->m_normal, normal);
+
+ const float tt = bx::vec3Dot(normal, vo) * invDet;
+ _intersection->m_dist = tt;
+
+ getPointAt(_intersection->m_pos, _ray, tt);
+ }
+
+ return true;
}