449 lines
9.7 KiB
C
449 lines
9.7 KiB
C
/*
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* Copyright 2011-2020 Branimir Karadzic. All rights reserved.
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* License: https://github.com/bkaradzic/bgfx#license-bsd-2-clause
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*/
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#ifndef BOUNDS_H_HEADER_GUARD
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#define BOUNDS_H_HEADER_GUARD
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#include <bx/math.h>
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///
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struct Aabb
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{
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bx::Vec3 min;
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bx::Vec3 max;
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};
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///
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struct Capsule
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{
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bx::Vec3 pos;
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bx::Vec3 end;
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float radius;
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};
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///
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struct Cone
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{
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bx::Vec3 pos;
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bx::Vec3 end;
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float radius;
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};
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///
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struct Cylinder
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{
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bx::Vec3 pos;
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bx::Vec3 end;
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float radius;
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};
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///
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struct Disk
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{
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bx::Vec3 center;
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bx::Vec3 normal;
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float radius;
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};
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///
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struct Obb
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{
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float mtx[16];
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};
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///
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struct Sphere
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{
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bx::Vec3 center;
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float radius;
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};
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///
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struct Triangle
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{
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bx::Vec3 v0;
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bx::Vec3 v1;
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bx::Vec3 v2;
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};
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///
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struct Ray
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{
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bx::Vec3 pos;
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bx::Vec3 dir;
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};
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///
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struct Hit
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{
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bx::Vec3 pos;
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bx::Plane plane;
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};
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///
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bx::Vec3 getCenter(const Aabb& _aabb);
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///
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bx::Vec3 getExtents(const Aabb& _aabb);
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///
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bx::Vec3 getCenter(const Triangle& _triangle);
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///
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void toAabb(Aabb& _outAabb, const bx::Vec3& _extents);
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///
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void toAabb(Aabb& _outAabb, const bx::Vec3& _center, const bx::Vec3& _extents);
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/// Convert cylinder to axis aligned bounding box.
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void toAabb(Aabb& _outAabb, const Cylinder& _cylinder);
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/// Convert disk to axis aligned bounding box.
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void toAabb(Aabb& _outAabb, const Disk& _disk);
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/// Convert oriented bounding box to axis aligned bounding box.
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void toAabb(Aabb& _outAabb, const Obb& _obb);
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/// Convert sphere to axis aligned bounding box.
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void toAabb(Aabb& _outAabb, const Sphere& _sphere);
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/// Convert triangle to axis aligned bounding box.
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void toAabb(Aabb& _outAabb, const Triangle& _triangle);
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/// Calculate axis aligned bounding box.
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void toAabb(Aabb& _outAabb, const void* _vertices, uint32_t _numVertices, uint32_t _stride);
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/// Transform vertices and calculate axis aligned bounding box.
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void toAabb(Aabb& _outAabb, const float* _mtx, const void* _vertices, uint32_t _numVertices, uint32_t _stride);
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/// Expand AABB.
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void aabbExpand(Aabb& _outAabb, float _factor);
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/// Expand AABB with xyz.
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void aabbExpand(Aabb& _outAabb, const bx::Vec3& _pos);
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/// Calculate surface area of axis aligned bounding box.
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float calcAreaAabb(const Aabb& _aabb);
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/// Convert axis aligned bounding box to oriented bounding box.
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void toObb(Obb& _outObb, const Aabb& _aabb);
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/// Calculate oriented bounding box.
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void calcObb(Obb& _outObb, const void* _vertices, uint32_t _numVertices, uint32_t _stride, uint32_t _steps = 17);
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/// Calculate maximum bounding sphere.
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void calcMaxBoundingSphere(Sphere& _outSphere, const void* _vertices, uint32_t _numVertices, uint32_t _stride);
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/// Calculate minimum bounding sphere.
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void calcMinBoundingSphere(Sphere& _outSphere, const void* _vertices, uint32_t _numVertices, uint32_t _stride, float _step = 0.01f);
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/// Returns 6 (near, far, left, right, top, bottom) planes representing frustum planes.
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void buildFrustumPlanes(bx::Plane* _outPlanes, const float* _viewProj);
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/// Returns point from 3 intersecting planes.
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bx::Vec3 intersectPlanes(const bx::Plane& _pa, const bx::Plane& _pb, const bx::Plane& _pc);
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/// Make screen space ray from x, y coordinate and inverse view-projection matrix.
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Ray makeRay(float _x, float _y, const float* _invVp);
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/// Intersect ray / AABB.
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bool intersect(const Ray& _ray, const Aabb& _aabb, Hit* _hit = NULL);
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/// Intersect ray / OBB.
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bool intersect(const Ray& _ray, const Obb& _obb, Hit* _hit = NULL);
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/// Intersect ray / cylinder.
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bool intersect(const Ray& _ray, const Cylinder& _cylinder, Hit* _hit = NULL);
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/// Intersect ray / capsule.
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bool intersect(const Ray& _ray, const Capsule& _capsule, Hit* _hit = NULL);
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/// Intersect ray / cone.
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bool intersect(const Ray& _ray, const Cone& _cone, Hit* _hit = NULL);
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/// Intersect ray / disk.
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bool intersect(const Ray& _ray, const Disk& _disk, Hit* _hit = NULL);
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/// Intersect ray / plane.
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bool intersect(const Ray& _ray, const bx::Plane& _plane, Hit* _hit = NULL);
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/// Intersect ray / sphere.
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bool intersect(const Ray& _ray, const Sphere& _sphere, Hit* _hit = NULL);
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/// Intersect ray / triangle.
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bool intersect(const Ray& _ray, const Triangle& _triangle, Hit* _hit = NULL);
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///
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bool overlap(const Aabb& _aabb, const bx::Vec3& _pos);
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///
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bool overlap(const Aabb& _aabb, const Sphere& _sphere);
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///
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bool overlap(const Aabb& _aabbA, const Aabb& _aabbB);
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///
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bool overlap(const Aabb& _aabb, const bx::Plane& _plane);
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///
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bool overlap(const Aabb& _aabb, const Triangle& _triangle);
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///
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bool overlap(const Aabb& _aabb, const Cylinder& _cylinder);
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///
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bool overlap(const Aabb& _aabb, const Capsule& _capsule);
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///
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bool overlap(const Aabb& _aabb, const Cone& _cone);
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///
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bool overlap(const Aabb& _aabb, const Disk& _disk);
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///
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bool overlap(const Aabb& _aabb, const Obb& _obb);
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///
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bool overlap(const Capsule& _capsule, const bx::Vec3& _pos);
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///
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bool overlap(const Capsule& _capsule, const Sphere& _sphere);
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///
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bool overlap(const Capsule& _capsule, const Aabb& _aabb);
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///
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bool overlap(const Capsule& _capsule, const bx::Plane& _plane);
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///
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bool overlap(const Capsule& _capsule, const Triangle& _triangle);
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///
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bool overlap(const Capsule& _capsule, const Cylinder& _cylinder);
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///
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bool overlap(const Capsule& _capsuleA, const Capsule& _capsuleB);
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///
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bool overlap(const Capsule& _capsule, const Cone& _cone);
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///
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bool overlap(const Capsule& _capsule, const Disk& _disk);
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///
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bool overlap(const Capsule& _capsule, const Obb& _obb);
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///
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bool overlap(const Cone& _cone, const bx::Vec3& _pos);
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///
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bool overlap(const Cone& _cone, const Sphere& _sphere);
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///
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bool overlap(const Cone& _cone, const Aabb& _aabb);
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///
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bool overlap(const Cone& _cone, const bx::Plane& _plane);
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///
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bool overlap(const Cone& _cone, const Triangle& _triangle);
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///
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bool overlap(const Cone& _cone, const Cylinder& _cylinder);
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///
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bool overlap(const Cone& _cone, const Capsule& _capsule);
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///
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bool overlap(const Cone& _coneA, const Cone& _coneB);
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///
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bool overlap(const Cone& _cone, const Disk& _disk);
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///
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bool overlap(const Cone& _cone, const Obb& _obb);
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///
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bool overlap(const Cylinder& _cylinder, const bx::Vec3& _pos);
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///
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bool overlap(const Cylinder& _cylinder, const Sphere& _sphere);
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///
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bool overlap(const Cylinder& _cylinder, const Aabb& _aabb);
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///
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bool overlap(const Cylinder& _cylinder, const bx::Plane& _plane);
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///
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bool overlap(const Cylinder& _cylinder, const Triangle& _triangle);
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///
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bool overlap(const Cylinder& _cylinderA, const Cylinder& _cylinderB);
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///
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bool overlap(const Cylinder& _cylinder, const Capsule& _capsule);
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///
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bool overlap(const Cylinder& _cylinder, const Cone& _cone);
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///
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bool overlap(const Cylinder& _cylinder, const Disk& _disk);
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///
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bool overlap(const Cylinder& _cylinder, const Obb& _obb);
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///
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bool overlap(const Disk& _disk, const bx::Vec3& _pos);
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///
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bool overlap(const Disk& _disk, const Sphere& _sphere);
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///
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bool overlap(const Disk& _disk, const Aabb& _aabb);
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///
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bool overlap(const Disk& _disk, const bx::Plane& _plane);
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///
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bool overlap(const Disk& _disk, const Triangle& _triangle);
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///
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bool overlap(const Disk& _disk, const Cylinder& _cylinder);
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///
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bool overlap(const Disk& _disk, const Capsule& _capsule);
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///
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bool overlap(const Disk& _disk, const Cone& _cone);
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///
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bool overlap(const Disk& _diskA, const Disk& _diskB);
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///
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bool overlap(const Disk& _disk, const Obb& _obb);
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///
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bool overlap(const Obb& _obb, const bx::Vec3& _pos);
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///
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bool overlap(const Obb& _obb, const Sphere& _sphere);
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///
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bool overlap(const Obb& _obb, const Aabb& _aabb);
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///
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bool overlap(const Obb& _obb, const bx::Plane& _plane);
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///
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bool overlap(const Obb& _obb, const Triangle& _triangle);
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///
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bool overlap(const Obb& _obb, const Cylinder& _cylinder);
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///
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bool overlap(const Obb& _obb, const Capsule& _capsule);
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///
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bool overlap(const Obb& _obb, const Cone& _cone);
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///
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bool overlap(const Obb& _obb, const Disk& _disk);
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///
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bool overlap(const Obb& _obbA, const Obb& _obbB);
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///
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bool overlap(const bx::Plane& _plane, const bx::Vec3& _pos);
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///
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bool overlap(const bx::Plane& _plane, const Sphere& _sphere);
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///
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bool overlap(const bx::Plane& _plane, const Aabb& _aabb);
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///
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bool overlap(const bx::Plane& _planeA, const bx::Plane& _planeB);
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///
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bool overlap(const bx::Plane& _plane, const Triangle& _triangle);
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///
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bool overlap(const bx::Plane& _plane, const Cylinder& _cylinder);
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///
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bool overlap(const bx::Plane& _plane, const Capsule& _capsule);
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///
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bool overlap(const bx::Plane& _plane, const Cone& _cone);
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///
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bool overlap(const bx::Plane& _plane, const Disk& _disk);
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///
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bool overlap(const bx::Plane& _plane, const Obb& _obb);
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///
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bool overlap(const Sphere& _sphere, const bx::Vec3& _pos);
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///
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bool overlap(const Sphere& _sphereA, const Sphere& _sphereB);
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///
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bool overlap(const Sphere& _sphere, const Aabb& _aabb);
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///
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bool overlap(const Sphere& _sphere, const bx::Plane& _plane);
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///
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bool overlap(const Sphere& _sphere, const Triangle& _triangle);
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///
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bool overlap(const Sphere& _sphere, const Cylinder& _cylinder);
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///
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bool overlap(const Sphere& _sphere, const Capsule& _capsule);
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///
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bool overlap(const Sphere& _sphere, const Cone& _cone);
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///
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bool overlap(const Sphere& _sphere, const Disk& _disk);
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///
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bool overlap(const Sphere& _sphere, const Obb& _obb);
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///
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bool overlap(const Triangle& _triangle, const bx::Vec3& _pos);
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///
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bool overlap(const Triangle& _triangle, const Sphere& _sphere);
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///
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bool overlap(const Triangle& _triangle, const Aabb& _aabb);
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///
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bool overlap(const Triangle& _triangle, const bx::Plane& _plane);
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///
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bool overlap(const Triangle& _triangleA, const Triangle& _triangleB);
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///
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bool overlap(const Triangle& _triangle, const Cylinder& _cylinder);
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///
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bool overlap(const Triangle& _triangle, const Capsule& _capsule);
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///
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bool overlap(const Triangle& _triangle, const Cone& _cone);
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///
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bool overlap(const Triangle& _triangle, const Disk& _disk);
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///
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bool overlap(const Triangle& _triangle, const Obb& _obb);
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#endif // BOUNDS_H_HEADER_GUARD
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