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104 lines
3.8 KiB
104 lines
3.8 KiB
/****************************************************************************
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Copyright (c) 2022-2023 Xiamen Yaji Software Co., Ltd.
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https://www.cocos.com/
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights to
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use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
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of the Software, and to permit persons to whom the Software is furnished to do so,
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subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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****************************************************************************/
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#include "cocos/core/geometry/Distance.h"
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#include "cocos/core/geometry/AABB.h"
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#include "cocos/core/geometry/Obb.h"
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#include "cocos/core/geometry/Plane.h"
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#include "cocos/math/Mat4.h"
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#include <algorithm>
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#include "base/std/container/array.h"
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#include "cocos/math/Utils.h"
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#include "cocos/math/Vec3.h"
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namespace cc {
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namespace geometry {
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float pointPlane(const Vec3 &point, const Plane &plane) {
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return Vec3::dot(plane.n, point) - plane.d;
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}
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Vec3 *ptPointPlane(Vec3 *out, const Vec3 &point, const Plane &plane) {
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auto t = pointPlane(point, plane);
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*out = point - t * plane.n;
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return out;
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}
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Vec3 *ptPointAabb(Vec3 *out, const Vec3 &point, const AABB &aabb) {
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auto min = aabb.getCenter() - aabb.getHalfExtents();
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auto max = aabb.getCenter() + aabb.getHalfExtents();
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*out = {cc::mathutils::clamp(point.x, min.x, max.x),
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cc::mathutils::clamp(point.y, min.y, max.y),
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cc::mathutils::clamp(point.z, min.z, max.z)};
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return out;
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}
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Vec3 *ptPointObb(Vec3 *out, const Vec3 &point, const OBB &obb) {
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ccstd::array<Vec3, 3> u = {
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Vec3{obb.orientation.m[0], obb.orientation.m[1], obb.orientation.m[2]},
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Vec3{obb.orientation.m[3], obb.orientation.m[4], obb.orientation.m[5]},
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Vec3{obb.orientation.m[6], obb.orientation.m[7], obb.orientation.m[8]},
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};
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ccstd::array<float, 3> e = {obb.halfExtents.x, obb.halfExtents.y, obb.halfExtents.z};
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auto d = point - obb.center;
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float dist = 0.0F;
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// Start result at center of obb; make steps from there
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*out = obb.center;
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// For each OBB axis...
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for (int i = 0; i < 3; i++) {
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// ...project d onto that axis to get the distance
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// along the axis of d from the obb center
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dist = Vec3::dot(d, u[i]);
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// if distance farther than the obb extents, clamp to the obb
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dist = cc::mathutils::clamp(dist, -e[i], e[i]);
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// Step that distance along the axis to get world coordinate
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*out += (dist * u[i]);
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}
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return out;
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}
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Vec3 *ptPointLine(Vec3 *out, const Vec3 &point, const Vec3 &linePointA, const Vec3 &linePointB) {
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auto dir = linePointA - linePointB;
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auto dirSquared = dir.lengthSquared();
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if (dirSquared == 0.0F) {
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// The point is at the segment start.
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*out = linePointA;
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} else {
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// Calculate the projection of the point onto the line extending through the segment.
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auto ap = point - linePointA;
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auto t = Vec3::dot(ap, dir) / dirSquared;
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*out = linePointA + cc::mathutils::clamp(t, 0.0F, 1.0F) * dir;
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}
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return out;
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}
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} // namespace geometry
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} // namespace cc
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