Ejemplo n.º 1
0
 internal bool Overlaps(ref AABB aabb, float expand)
 {
     //  test OBB in AABB space
       float dx = Math.Abs(PosOriMatrix.Right.X) * HalfDim.X +
     Math.Abs(PosOriMatrix.Up.X) * HalfDim.Y +
     Math.Abs(PosOriMatrix.Backward.X) * HalfDim.Z;
       if (Pos.X + dx < aabb.Lo.X ||
     Pos.X - dx > aabb.Hi.X)
     return false;
       float dy = Math.Abs(PosOriMatrix.Right.Y) * HalfDim.X +
     Math.Abs(PosOriMatrix.Up.Y) * HalfDim.Y +
     Math.Abs(PosOriMatrix.Backward.Y) * HalfDim.Z;
       if (Pos.Y + dy < aabb.Lo.Y ||
     Pos.Y - dy > aabb.Hi.Y)
     return false;
       float dz = Math.Abs(PosOriMatrix.Right.Z) * HalfDim.X +
     Math.Abs(PosOriMatrix.Up.Z) * HalfDim.Y +
     Math.Abs(PosOriMatrix.Backward.Z) * HalfDim.Z;
       if (Pos.Z + dz < aabb.Lo.Z ||
     Pos.Z - dz > aabb.Hi.Z)
     return false;
       //  TODO: test AABB in OBB space
       //  TODO: test 9 cross axes
       return true;
 }
Ejemplo n.º 2
0
 public void SetUnion(AABB other)
 {
     Lo.X = Math.Min(Lo.X, other.Lo.X);
       Lo.Y = Math.Min(Lo.Y, other.Lo.Y);
       Lo.Z = Math.Min(Lo.Z, other.Lo.Z);
       Hi.X = Math.Max(Hi.X, other.Hi.X);
       Hi.Y = Math.Max(Hi.Y, other.Hi.Y);
       Hi.Z = Math.Max(Hi.Z, other.Hi.Z);
 }
Ejemplo n.º 3
0
 public bool SetIntersection(AABB other)
 {
     if (Empty)
       {
     Lo = other.Lo;
     Hi = other.Hi;
       }
       else if (!other.Empty)
       {
     Lo.X = Math.Max(Lo.X, other.Lo.X);
     Lo.Y = Math.Max(Lo.Y, other.Lo.Y);
     Lo.Z = Math.Max(Lo.Z, other.Lo.Z);
     Hi.X = Math.Min(Hi.X, other.Hi.X);
     Hi.Y = Math.Min(Hi.Y, other.Hi.Y);
     Hi.Z = Math.Min(Hi.Z, other.Hi.Z);
       }
       if (Hi.X > Lo.X && Hi.Y > Lo.Y && Hi.Z > Lo.Z)
     return true;
       Hi = Lo;
       return false;
 }
Ejemplo n.º 4
0
 public bool Overlaps(ref AABB other, float expand)
 {
     if (other.Lo.X >= Hi.X + expand || other.Hi.X <= Lo.X - expand) return false;
       if (other.Lo.Y >= Hi.Y + expand || other.Hi.Y <= Lo.Y - expand) return false;
       if (other.Lo.Z >= Hi.Z + expand || other.Hi.Z <= Lo.Z - expand) return false;
       return true;
 }
Ejemplo n.º 5
0
 public bool Overlaps(AABB other)
 {
     return Overlaps(ref other, 0);
 }
Ejemplo n.º 6
0
 public bool Overlaps(ref AABB aabb, float expand)
 {
   return aabb.Overlaps(ref sphere, expand);
 }
   void BuildNodes(CollisionContent cc, int[] tris, int lo, int hi, List<TreeNode> nodes, AABB bounds, 
 BoundingSphere[] tbs)
   {
       TreeNode tn = new TreeNode();
         tn.TriStart = lo;
         tn.Expansion = (bounds.Hi - bounds.Lo).Length() * ExpansionFactor;
         GatherLargeTriangles(ref tn, cc, tris, ref lo, hi, tn.Expansion, tbs);
         tn.TriEnd = lo;
         int ix = nodes.Count;
         nodes.Add(tn);
         Vector3 lb = bounds.Lo;
         Vector3 ub = bounds.Hi;
         Vector3 cb = lb + (ub - lb) * 0.5f;
         if (hi > lo + 4)
         {
       int midX = lo;
       PartitionSmallerTriangles(cc, tris, lo, ref midX, hi, tbs, Vector3.Right, cb.X);
       int midXlo = lo;
       PartitionSmallerTriangles(cc, tris, lo, ref midXlo, midX, tbs, Vector3.Up, cb.Y);
       int midXhi = midX;
       PartitionSmallerTriangles(cc, tris, midX, ref midXhi, hi, tbs, Vector3.Up, cb.Y);
       int midXloYlo = lo;
       PartitionSmallerTriangles(cc, tris, lo, ref midXloYlo, midXlo, tbs, Vector3.Backward, cb.Z);
       int midXloYhi = midXlo;
       PartitionSmallerTriangles(cc, tris, midXlo, ref midXloYhi, midX, tbs, Vector3.Backward, cb.Z);
       int midXhiYlo = midX;
       PartitionSmallerTriangles(cc, tris, midX, ref midXhiYlo, midXhi, tbs, Vector3.Backward, cb.Z);
       int midXhiYhi = midXhi;
       PartitionSmallerTriangles(cc, tris, midXhi, ref midXhiYhi, hi, tbs, Vector3.Backward, cb.Z);
       if (lo < midXloYlo)
       {
         tn.Child000 = nodes.Count;
         BuildNodes(cc, tris, lo, midXloYlo, nodes, new AABB(lb, cb),
       tbs);
       }
       if (midXloYlo < midXlo)
       {
         tn.Child001 = nodes.Count;
         BuildNodes(cc, tris, midXloYlo, midXlo, nodes,
         new AABB(new Vector3(lb.X, lb.Y, cb.Z), new Vector3(cb.X, cb.Y, ub.Z)),
         tbs);
       }
       if (midXlo < midXloYhi)
       {
         tn.Child010 = nodes.Count;
         BuildNodes(cc, tris, midXlo, midXloYhi, nodes,
         new AABB(new Vector3(lb.X, cb.Y, lb.Z), new Vector3(cb.X, ub.Y, cb.Z)),
         tbs);
       }
       if (midXloYhi < midX)
       {
         tn.Child011 = nodes.Count;
         BuildNodes(cc, tris, midXloYhi, midX, nodes,
         new AABB(new Vector3(lb.X, cb.Y, cb.Z), new Vector3(cb.X, ub.Y, ub.Z)),
         tbs);
       }
       if (midX < midXhiYlo)
       {
         tn.Child100 = nodes.Count;
         BuildNodes(cc, tris, midX, midXhiYlo, nodes,
         new AABB(new Vector3(cb.X, lb.Y, lb.Z), new Vector3(ub.X, cb.Y, cb.Z)),
         tbs);
       }
       if (midXhiYlo < midXhi)
       {
         tn.Child101 = nodes.Count;
         BuildNodes(cc, tris, midXhiYlo, midXhi, nodes,
         new AABB(new Vector3(cb.X, lb.Y, cb.Z), new Vector3(ub.X, cb.Y, ub.Z)),
         tbs);
       }
       if (midXhi < midXhiYhi)
       {
         tn.Child110 = nodes.Count;
         BuildNodes(cc, tris, midXhi, midXhiYhi, nodes,
         new AABB(new Vector3(cb.X, cb.Y, lb.Z), new Vector3(ub.X, ub.Y, cb.Z)),
         tbs);
       }
       if (midXhiYhi < hi)
       {
         tn.Child111 = nodes.Count;
         BuildNodes(cc, tris, midXhiYhi, hi, nodes,
         new AABB(new Vector3(cb.X, cb.Y, cb.Z), new Vector3(ub.X, ub.Y, ub.Z)),
         tbs);
       }
         }
         else
         {
       //  include them all!
       tn.TriEnd = hi;
         }
         nodes[ix] = tn;
   }
Ejemplo n.º 8
0
    bool AABBIntersects(ref Vector3 va, ref Vector3 vb, ref Vector3 vc, ref AABB box)
    {
      Vector3 hd = box.HalfDim;
      if (va.X >= hd.X && vb.X >= hd.X && vc.X >= hd.X)
        return false;
      if (-va.X >= hd.X && -vb.X >= hd.X && -vc.X >= hd.X)
        return false;
      if (va.Y >= hd.Y && vb.Y >= hd.Y && vc.Y >= hd.Y)
        return false;
      if (-va.Y >= hd.Y && -vb.Y >= hd.Y && -vc.Y >= hd.Y)
        return false;
      if (va.Z >= hd.Z && vb.Z >= hd.Z && vc.Z >= hd.Z)
        return false;
      if (-va.Z >= hd.Z && -vb.Z >= hd.Z && -vc.Z >= hd.Z)
        return false;

      //  box culled by triangle?
      float d = Vector3.Dot(Normal, box.Vertex(0));
      bool culled = true;
      if (d < Distance)
      {
        for (int i = 1; i < 8; ++i)
        {
          if (Vector3.Dot(Normal, box.Vertex(i)) >= Distance)
          {
            culled = false;
            break;
          }
        }
      }
      else
      {
        for (int i = 1; i < 8; ++i)
        {
          if (Vector3.Dot(Normal, box.Vertex(i)) < Distance)
          {
            culled = false;
            break;
          }
        }
      }
      if (culled)
        return false;

      //  triangle culled by cross product between triangle edge and box edge?
      //  (separating axis theorem)
      if (AxisSeparates(ref va, ref vb, ref vc, Vector3.UnitX, ref hd))
        return false;
      if (AxisSeparates(ref vb, ref vc, ref va, Vector3.UnitX, ref hd))
        return false;
      if (AxisSeparates(ref vc, ref va, ref vb, Vector3.UnitX, ref hd))
        return false;
      if (AxisSeparates(ref va, ref vb, ref vc, Vector3.UnitY, ref hd))
        return false;
      if (AxisSeparates(ref vb, ref vc, ref va, Vector3.UnitY, ref hd))
        return false;
      if (AxisSeparates(ref vc, ref va, ref vb, Vector3.UnitY, ref hd))
        return false;
      if (AxisSeparates(ref va, ref vb, ref vc, Vector3.UnitZ, ref hd))
        return false;
      if (AxisSeparates(ref vb, ref vc, ref va, Vector3.UnitZ, ref hd))
        return false;
      if (AxisSeparates(ref vc, ref va, ref vb, Vector3.UnitZ, ref hd))
        return false;

      //  ok, so they intersect
      return true;
    }
Ejemplo n.º 9
0
 public bool Overlaps(ref AABB aabb, float expand)
 {
   return box.Overlaps(ref aabb, expand);
 }
Ejemplo n.º 10
0
 public bool Overlaps(ref AABB aabb, float expand)
 {
   float dd = collRayD;
   return aabb.Intersects(ref collRay, ref dd, expand);
 }
Ejemplo n.º 11
0
 public bool Intersects(CollisionContent cc, ref AABB box)
 {
   //  transform to box-relative coordinates
   //  triangle culled by box major axes?
   Vector3 bc = box.Center;
   Vector3 va = cc.Vertices[VertexA] - bc;
   Vector3 vb = cc.Vertices[VertexB] - bc;
   Vector3 vc = cc.Vertices[VertexC] - bc;
   return AABBIntersects(ref va, ref vb, ref vc, ref box);
 }
Ejemplo n.º 12
0
 void GetNodeTris(int ix, ref AABB aabb, ITester tester)
Ejemplo n.º 13
0
    public void TraverseNode(int ix, ref AABB bounds, ITester tester)
    {
#if DEBUG
      nodesTested.Add(bounds);
#endif
#if VALIDATE
      GetNodeTris(ix, ref bounds, tester);
#else
      GetNodeTris(ix, tester);
#endif
      float expand = Nodes[ix].Expansion;
      Vector3 c = bounds.Lo + (bounds.Hi - bounds.Lo) * 0.5f;
      AABB aabb;
      aabb.Lo = bounds.Lo;
      aabb.Hi = c;
      if (Nodes[ix].Child000 != 0 && tester.Overlaps(ref aabb, expand))
      {
        TraverseNode(Nodes[ix].Child000, ref aabb, tester);
      }
      aabb.Lo.Z = c.Z;
      aabb.Hi.Z = bounds.Hi.Z;
      if (Nodes[ix].Child001 != 0 && tester.Overlaps(ref aabb, expand))
      {
        TraverseNode(Nodes[ix].Child001, ref aabb, tester);
      }
      aabb.Lo.Z = bounds.Lo.Z;
      aabb.Hi.Z = c.Z;
      aabb.Lo.Y = c.Y;
      aabb.Hi.Y = bounds.Hi.Y;
      if (Nodes[ix].Child010 != 0 && tester.Overlaps(ref aabb, expand))
      {
        TraverseNode(Nodes[ix].Child010, ref aabb, tester);
      }
      aabb.Lo.Z = c.Z;
      aabb.Hi.Z = bounds.Hi.Z;
      if (Nodes[ix].Child011 != 0 && tester.Overlaps(ref aabb, expand))
      {
        TraverseNode(Nodes[ix].Child011, ref aabb, tester);
      }
      aabb.Lo.Z = bounds.Lo.Z;
      aabb.Hi.Z = c.Z;
      aabb.Lo.Y = bounds.Lo.Y;
      aabb.Hi.Y = c.Y;
      aabb.Lo.X = c.X;
      aabb.Hi.X = bounds.Hi.X;
      if (Nodes[ix].Child100 != 0 && tester.Overlaps(ref aabb, expand))
      {
        TraverseNode(Nodes[ix].Child100, ref aabb, tester);
      }
      aabb.Lo.Z = c.Z;
      aabb.Hi.Z = bounds.Hi.Z;
      if (Nodes[ix].Child101 != 0 && tester.Overlaps(ref aabb, expand))
      {
        TraverseNode(Nodes[ix].Child101, ref aabb, tester);
      }
      aabb.Lo.Z = bounds.Lo.Z;
      aabb.Hi.Z = c.Z;
      aabb.Lo.Y = c.Y;
      aabb.Hi.Y = bounds.Hi.Y;
      if (Nodes[ix].Child110 != 0 && tester.Overlaps(ref aabb, expand))
      {
        TraverseNode(Nodes[ix].Child110, ref aabb, tester);
      }
      aabb.Lo.Z = c.Z;
      aabb.Hi.Z = bounds.Hi.Z;
      if (Nodes[ix].Child111 != 0 && tester.Overlaps(ref aabb, expand))
      {
        TraverseNode(Nodes[ix].Child111, ref aabb, tester);
      }
    }
Ejemplo n.º 14
0
 public List<int> CollectAABB(AABB bounds)
 {
   ReturnTriangles.Clear();
   if (Bounds.Overlaps(ref bounds, 0))
   {
     AABBTester rt = new AABBTester();
     rt.box = bounds;
     TraverseNode(0, ref Bounds, rt);
   }
   return ReturnTriangles;
 }