bool BoundingBoxes::boxesAreWithin(shared_ptr<BoundingBoxes> otherBoxes) {
bool collides = false;
glm::mat4 rotationMatrix =
rotateZ(otherBoxes->rotation.z) * rotateX(otherBoxes->rotation.x) * rotateY(otherBoxes->rotation.y);
for (vector<vector<float> >::iterator vertex = otherBoxes->vertices.begin();
vertex != otherBoxes->vertices.end(); ++vertex) {
glm::vec4 otherCoords(vertex->at(0), vertex->at(1), vertex->at(2), 1.0f);
glm::vec4 rotatedOtherCoords(0.0f, 0.0f, 0.0f, 1.0f);
rotatedOtherCoords = rotationMatrix * otherCoords;
rotatedOtherCoords.x += otherBoxes->offset.x;
rotatedOtherCoords.y += otherBoxes->offset.y;
rotatedOtherCoords.z += otherBoxes->offset.z;
/*cout << "Checking " << rotatedOtherCoords.x << ", " << rotatedOtherCoords.y << ", " << rotatedOtherCoords.z <<
" with " << boxesX << ", " << boxesY << ", " << boxesZ << " rotation " << boxesRotation << endl;*/
if (pointIsWithin(rotatedOtherCoords.x, rotatedOtherCoords.y, rotatedOtherCoords.z)) {
collides = true;
break;
}
}
return collides;
}
bool BoundingBoxSet::collidesWith(const BoundingBoxSet otherBoxSet,
const glm::vec3 thisOffset,
const glm::vec3 thisRotation,
const glm::vec3 otherOffset,
const glm::vec3 otherRotation) const {
bool collides = false;
glm::mat4 rotationMatrix =
glm::rotate(
glm::rotate(
glm::rotate(glm::mat4x4(1.0f), otherRotation.z,
glm::vec3(0.0f, 0.0f, -1.0f)),
otherRotation.x,
glm::vec3(-1.0f, 0.0f, 0.0f)),
otherRotation.y, glm::vec3(0.0f, -1.0f, 0.0f));
for (auto vertex = otherBoxSet.vertices.begin();
vertex != otherBoxSet.vertices.end(); ++vertex) {
glm::vec4 otherCoords(vertex->at(0), vertex->at(1), vertex->at(2), 1.0f);
glm::vec4 rotatedOtherCoords;
rotatedOtherCoords = rotationMatrix * otherCoords;
rotatedOtherCoords.x += otherOffset.x;
rotatedOtherCoords.y += otherOffset.y;
rotatedOtherCoords.z += otherOffset.z;
if (collidesWith(glm::vec3(rotatedOtherCoords.x, rotatedOtherCoords.y,
rotatedOtherCoords.z),
thisOffset, thisRotation)) {
collides = true;
break;
}
}
return collides;
}
