//===========================================================================
bool cCollisionAABBInternal::computeCollision(cVector3d& a_segmentPointA,
cVector3d& a_segmentPointB,
cCollisionAABBBox &a_lineBox,
cCollisionRecorder& a_recorder,
cCollisionSettings& a_settings)
{
// if a line's bounding box does not intersect the node's bounding box,
// there can be no intersection
if (!intersect(m_bbox, a_lineBox))
{
return (false);
}
if (m_testLineBox)
{
if (!hitBoundingBox(
(const double*)(&m_bbox.m_min),
(const double*)(&m_bbox.m_max),
(const double*)(&a_segmentPointA),
(const double*)(&a_segmentPointB)))
return (false);
}
// initialize objects for calls to left and right subtrees
cVector3d l_colPoint, r_colPoint;
bool l_result = false;
bool r_result = false;
// check collision between line and left subtree node; it will only
// return true if the distance between the segment origin and this
// triangle is less than the current closest intersecting triangle
// (whose distance squared is in l_colSquareDistance)
if ( m_leftSubTree && m_leftSubTree->computeCollision(
a_segmentPointA, a_segmentPointB, a_lineBox, a_recorder, a_settings))
{
l_result = true;
}
// check collision between line and right subtree node; it will only
// return true if the distance between the segment origin and this
// triangle is less than the current closest intersecting triangle
// (whose distance squared is in r_colSquareDistance)
if ( m_rightSubTree && m_rightSubTree->computeCollision(
a_segmentPointA, a_segmentPointB, a_lineBox, a_recorder, a_settings))
{
r_result = true;
}
// return result
return (l_result || r_result);
}
//===========================================================================
bool cCollisionAABBInternal::computeCollision(cVector3d& a_segmentPointA,
cVector3d& a_segmentDirection,
cCollisionAABBBox &a_lineBox,
cTriangle*& a_colTriangle,
cVector3d& a_colPoint,
double& a_colSquareDistance)
{
// if a line's bounding box does not intersect the node's bounding box,
// there can be no intersection
if (!intersect(m_bbox, a_lineBox))
{
return (false);
}
if (m_testLineBox)
{
// Avoid unnecessary copying by casting straight to double...
//double minB[3];
//double maxB[3];
//double origin[3];
//double dir[3];
//minB[0] = m_bbox.getLowerX(); minB[1] = m_bbox.getLowerY(); minB[2] = m_bbox.getLowerZ();
//maxB[0] = m_bbox.getUpperX(); maxB[1] = m_bbox.getUpperY(); maxB[2] = m_bbox.getUpperZ();
//origin[0] = a_segmentPointA.x; origin[1] = a_segmentPointA.y; origin[2] = a_segmentPointA.z;
//dir[0] = a_segmentDirection.x; dir[1] = a_segmentDirection.y; dir[2] = a_segmentDirection.z;
//if (!hitBoundingBox(minB, maxB, origin, dir))
if (!hitBoundingBox(
(const double*)(&m_bbox.m_min),
(const double*)(&m_bbox.m_max),
(const double*)(&a_segmentPointA),
(const double*)(&a_segmentDirection)))
return (false);
}
// initialize objects for calls to left and right subtrees
cTriangle *l_colTriangle, *r_colTriangle;
cVector3d l_colPoint, r_colPoint;
double l_colSquareDistance = a_colSquareDistance;
double r_colSquareDistance = a_colSquareDistance;
bool l_result = false;
bool r_result = false;
// check collision between line and left subtree node; it will only
// return true if the distance between the segment origin and this
// triangle is less than the current closest intersecting triangle
// (whose distance squared is in l_colSquareDistance)
if ( m_leftSubTree && m_leftSubTree->computeCollision(a_segmentPointA,
a_segmentDirection, a_lineBox, l_colTriangle, l_colPoint,
l_colSquareDistance) )
{
l_result = true;
}
// check collision between line and right subtree node; it will only
// return true if the distance between the segment origin and this
// triangle is less than the current closest intersecting triangle
// (whose distance squared is in r_colSquareDistance)
if ( m_rightSubTree && m_rightSubTree->computeCollision(a_segmentPointA,
a_segmentDirection, a_lineBox, r_colTriangle, r_colPoint,
r_colSquareDistance) )
{
r_result = true;
}
// if there is an intersection in either subtree, return the closest one
if ((l_result && !r_result) || (l_result && r_result &&
(l_colSquareDistance <= r_colSquareDistance)))
{
a_colTriangle = l_colTriangle;
a_colPoint = l_colPoint;
a_colSquareDistance = l_colSquareDistance;
}
else
{
a_colTriangle = r_colTriangle;
a_colPoint = r_colPoint;
a_colSquareDistance = r_colSquareDistance;
}
// return result
return (l_result || r_result);
}
