// Exactly like TestRaySquare with u=(1,0), v=(0,1)
bool Geometry::TestRayAASquare(const CFixedVector2D& a, const CFixedVector2D& b, const CFixedVector2D& halfSize)
{
fixed hw = halfSize.X;
fixed hh = halfSize.Y;
if (-hw <= a.X && a.X <= hw && -hh <= a.Y && a.Y <= hh)
return false; // a is inside
if (-hw <= b.X && b.X <= hw && -hh <= b.Y && b.Y <= hh) // TODO: isn't this subsumed by the next checks?
return true; // a is outside, b is inside
if ((a.X < -hw && b.X < -hw) || (a.X > hw && b.X > hw) || (a.Y < -hh && b.Y < -hh) || (a.Y > hh && b.Y > hh))
return false; // ab is entirely above/below/side the square
CFixedVector2D abp = (b - a).Perpendicular();
fixed s0 = abp.Dot(CFixedVector2D(hw, hh) - a);
fixed s1 = abp.Dot(CFixedVector2D(hw, -hh) - a);
fixed s2 = abp.Dot(CFixedVector2D(-hw, -hh) - a);
fixed s3 = abp.Dot(CFixedVector2D(-hw, hh) - a);
if (s0.IsZero() || s1.IsZero() || s2.IsZero() || s3.IsZero())
return true; // ray intersects the corner
bool sign = (s0 < fixed::Zero());
if ((s1 < fixed::Zero()) != sign || (s2 < fixed::Zero()) != sign || (s3 < fixed::Zero()) != sign)
return true; // ray cuts through the square
return false;
}
bool Geometry::TestRaySquare(const CFixedVector2D& a, const CFixedVector2D& b, const CFixedVector2D& u, const CFixedVector2D& v, const CFixedVector2D& halfSize)
{
/*
* We only consider collisions to be when the ray goes from outside to inside the shape (and possibly out again).
* Various cases to consider:
* 'a' inside, 'b' inside -> no collision
* 'a' inside, 'b' outside -> no collision
* 'a' outside, 'b' inside -> collision
* 'a' outside, 'b' outside -> depends; use separating axis theorem:
* if the ray's bounding box is outside the square -> no collision
* if the whole square is on the same side of the ray -> no collision
* otherwise -> collision
* (Points on the edge are considered 'inside'.)
*/
fixed hw = halfSize.X;
fixed hh = halfSize.Y;
fixed au = a.Dot(u);
fixed av = a.Dot(v);
if (-hw <= au && au <= hw && -hh <= av && av <= hh)
return false; // a is inside
fixed bu = b.Dot(u);
fixed bv = b.Dot(v);
if (-hw <= bu && bu <= hw && -hh <= bv && bv <= hh) // TODO: isn't this subsumed by the next checks?
return true; // a is outside, b is inside
if ((au < -hw && bu < -hw) || (au > hw && bu > hw) || (av < -hh && bv < -hh) || (av > hh && bv > hh))
return false; // ab is entirely above/below/side the square
CFixedVector2D abp = (b - a).Perpendicular();
fixed s0 = abp.Dot((u.Multiply(hw) + v.Multiply(hh)) - a);
fixed s1 = abp.Dot((u.Multiply(hw) - v.Multiply(hh)) - a);
fixed s2 = abp.Dot((-u.Multiply(hw) - v.Multiply(hh)) - a);
fixed s3 = abp.Dot((-u.Multiply(hw) + v.Multiply(hh)) - a);
if (s0.IsZero() || s1.IsZero() || s2.IsZero() || s3.IsZero())
return true; // ray intersects the corner
bool sign = (s0 < fixed::Zero());
if ((s1 < fixed::Zero()) != sign || (s2 < fixed::Zero()) != sign || (s3 < fixed::Zero()) != sign)
return true; // ray cuts through the square
return false;
}
/**
* Separating axis test; returns true if the square defined by u/v/halfSize at the origin
* is not entirely on the clockwise side of a line in direction 'axis' passing through 'a'
*/
static bool SquareSAT(const CFixedVector2D& a, const CFixedVector2D& axis, const CFixedVector2D& u, const CFixedVector2D& v, const CFixedVector2D& halfSize)
{
fixed hw = halfSize.X;
fixed hh = halfSize.Y;
CFixedVector2D p = axis.Perpendicular();
if (p.Dot((u.Multiply(hw) + v.Multiply(hh)) - a) <= fixed::Zero())
return true;
if (p.Dot((u.Multiply(hw) - v.Multiply(hh)) - a) <= fixed::Zero())
return true;
if (p.Dot((-u.Multiply(hw) - v.Multiply(hh)) - a) <= fixed::Zero())
return true;
if (p.Dot((-u.Multiply(hw) + v.Multiply(hh)) - a) <= fixed::Zero())
return true;
return false;
}
fixed Geometry::DistanceToSquare(const CFixedVector2D& point, const CFixedVector2D& u, const CFixedVector2D& v, const CFixedVector2D& halfSize, bool countInsideAsZero)
{
/*
* Relative to its own coordinate system, we have a square like:
*
* A : B : C
* : :
* - - ########### - -
* # #
* # I #
* D # 0 # E v
* # # ^
* # # |
* - - ########### - - -->u
* : :
* F : G : H
*
* where 0 is the center, u and v are unit axes,
* and the square is hw*2 by hh*2 units in size.
*
* Points in the BIG regions should check distance to horizontal edges.
* Points in the DIE regions should check distance to vertical edges.
* Points in the ACFH regions should check distance to the corresponding corner.
*
* So we just need to check all of the regions to work out which calculations to apply.
*
*/
// By symmetry (taking absolute values), we work only in the 0-B-C-E quadrant
// du, dv are the location of the point in the square's coordinate system
fixed du = point.Dot(u).Absolute();
fixed dv = point.Dot(v).Absolute();
fixed hw = halfSize.X;
fixed hh = halfSize.Y;
if (du < hw) // regions B, I, G
{
if (dv < hh) // region I
return countInsideAsZero ? fixed::Zero() : std::min(hw - du, hh - dv);
else
return dv - hh;
}
else if (dv < hh) // regions D, E
{
return du - hw; // vertical edges
}
else // regions A, C, F, H
{
CFixedVector2D distance(du - hw, dv - hh);
return distance.Length();
}
}
// Same as above except it does not use Length
// For explanations refer to DistanceToSquare
fixed Geometry::DistanceToSquareSquared(const CFixedVector2D& point, const CFixedVector2D& u, const CFixedVector2D& v, const CFixedVector2D& halfSize, bool countInsideAsZero)
{
fixed du = point.Dot(u).Absolute();
fixed dv = point.Dot(v).Absolute();
fixed hw = halfSize.X;
fixed hh = halfSize.Y;
if (du < hw) // regions B, I, G
{
if (dv < hh) // region I
return countInsideAsZero ? fixed::Zero() : std::min((hw - du).Square(), (hh - dv).Square());
else
return (dv - hh).Square(); // horizontal edges
}
else if (dv < hh) // regions D, E
{
return (du - hw).Square(); // vertical edges
}
else // regions A, C, F, H
{
return (du - hw).Square() + (dv - hh).Square();
}
}
CFixedVector2D Geometry::NearestPointOnSquare(const CFixedVector2D& point, const CFixedVector2D& u, const CFixedVector2D& v, const CFixedVector2D& halfSize)
{
/*
* Relative to its own coordinate system, we have a square like:
*
* A : : C
* : :
* - - #### B #### - -
* #\ /#
* # \ / #
* D --0-- E v
* # / \ # ^
* #/ \# |
* - - #### G #### - - -->u
* : :
* F : : H
*
* where 0 is the center, u and v are unit axes,
* and the square is hw*2 by hh*2 units in size.
*
* Points in the BDEG regions are nearest to the corresponding edge.
* Points in the ACFH regions are nearest to the corresponding corner.
*
* So we just need to check all of the regions to work out which calculations to apply.
*
*/
// du, dv are the location of the point in the square's coordinate system
fixed du = point.Dot(u);
fixed dv = point.Dot(v);
fixed hw = halfSize.X;
fixed hh = halfSize.Y;
if (-hw < du && du < hw) // regions B, G; or regions D, E inside the square
{
if (-hh < dv && dv < hh && (du.Absolute() - hw).Absolute() < (dv.Absolute() - hh).Absolute()) // regions D, E
{
if (du >= fixed::Zero()) // E
return u.Multiply(hw) + v.Multiply(dv);
else // D
return -u.Multiply(hw) + v.Multiply(dv);
}
else // B, G
{
if (dv >= fixed::Zero()) // B
return v.Multiply(hh) + u.Multiply(du);
else // G
return -v.Multiply(hh) + u.Multiply(du);
}
}
else if (-hh < dv && dv < hh) // regions D, E outside the square
{
if (du >= fixed::Zero()) // E
return u.Multiply(hw) + v.Multiply(dv);
else // D
return -u.Multiply(hw) + v.Multiply(dv);
}
else // regions A, C, F, H
{
CFixedVector2D corner;
if (du < fixed::Zero()) // A, F
corner -= u.Multiply(hw);
else // C, H
corner += u.Multiply(hw);
if (dv < fixed::Zero()) // F, H
corner -= v.Multiply(hh);
else // A, C
corner += v.Multiply(hh);
return corner;
}
}
