void OBB::SetNegativeInfinity()
{
pos = POINT_VEC_SCALAR(0.f);
r.SetFromScalar(-FLOAT_INF);
axis[0] = DIR_VEC(1,0,0);
axis[1] = DIR_VEC(0, 1, 0);
axis[2] = DIR_VEC(0, 0, 1);
}
vec Plane::PointOnPlane() const
{
#ifdef MATH_AUTOMATIC_SSE
return normal * d + vec(POINT_VEC_SCALAR(0.f));
#else
return normal * d;
#endif
}
void AABB::Enclose(const Capsule &capsule)
{
vec d = POINT_VEC_SCALAR(capsule.r);
Enclose(capsule.l.a - d);
Enclose(capsule.l.a + d);
Enclose(capsule.l.b - d);
Enclose(capsule.l.b + d);
}
void OBB::Triangulate(int x, int y, int z, vec *outPos, vec *outNormal, float2 *outUV, bool ccwIsFrontFacing) const
{
AABB aabb(POINT_VEC_SCALAR(0), r*2.f);
aabb.Triangulate(x, y, z, outPos, outNormal, outUV, ccwIsFrontFacing);
float3x4 localToWorld = LocalToWorld();
assume(localToWorld.HasUnitaryScale()); // Transforming of normals will fail otherwise.
localToWorld.BatchTransformPos(outPos, NumVerticesInTriangulation(x,y,z), sizeof(vec));
localToWorld.BatchTransformDir(outNormal, NumVerticesInTriangulation(x,y,z), sizeof(vec));
}
void TriangleMesh::Set(const Polyhedron &polyhedron)
{
TriangleArray tris = polyhedron.Triangulate();
if (!tris.empty())
{
int alignment = (simdCapability == SIMD_AVX) ? 8 : ((simdCapability == SIMD_SSE41 || simdCapability == SIMD_SSE2) ? 4 : 1);
vec degen = POINT_VEC_SCALAR(-FLOAT_INF);
Triangle degent(degen, degen, degen);
while(tris.size() % alignment != 0)
tris.push_back(degent);
Set((Triangle*)&tris[0], (int)tris.size());
}
}
MATH_IGNORE_UNUSED_VARS_WARNING
RANDOMIZED_TEST(AABBPBVolumeIntersect)
{
vec pt = vec::RandomBox(rng, POINT_VEC_SCALAR(-SCALE), POINT_VEC_SCALAR(SCALE));
Frustum b = RandomFrustumContainingPoint(pt);
AABB a = RandomAABBContainingPoint(pt, 10.f);
assert(a.Intersects(b));
assert(b.Intersects(a));
bool contained = b.Contains(a);
vec centerPoint = b.CenterPoint();
assert(b.Contains(b.CenterPoint()));
PBVolume<6> pbVolume = ToPBVolume(b);
assert(pbVolume.Contains(b.CenterPoint()));
CullTestResult r = pbVolume.InsideOrIntersects(a);
assert(r == TestInside || r == TestNotContained);
if (contained)
assert(r == TestInside);
}
bool OBB::Intersects(const Line &line, float &dNear, float &dFar) const
{
AABB aabb(POINT_VEC_SCALAR(0.f), Size());
Line l = WorldToLocal() * line;
return aabb.Intersects(l, dNear, dFar);
}
bool OBB::Intersects(const Line &line) const
{
AABB aabb(POINT_VEC_SCALAR(0.f), Size());
Line l = WorldToLocal() * line;
return aabb.Intersects(l);
}
bool OBB::Intersects(const Ray &ray, float &dNear, float &dFar) const
{
AABB aabb(POINT_VEC_SCALAR(0.f), Size());
Ray r = WorldToLocal() * ray;
return aabb.Intersects(r, dNear, dFar);
}
bool OBB::Intersects(const Triangle &triangle) const
{
AABB aabb(POINT_VEC_SCALAR(0.f), Size());
Triangle t = WorldToLocal() * triangle;
return t.Intersects(aabb);
}
void AABB::Enclose(const Sphere &sphere)
{
vec d = POINT_VEC_SCALAR(sphere.r);
Enclose(sphere.pos - d);
Enclose(sphere.pos + d);
}
vec RandomPointNearOrigin(float maxDistanceFromOrigin)
{
return Sphere(POINT_VEC_SCALAR(0.f), maxDistanceFromOrigin).RandomPointInside(rng);
}
