wmlintrbox3box3.cpp

3D Game Engine Design Source Code非常棒

        {
            riQuantity = 1;
            akP[0] = GetPoint(rkUC.m_aiIndex[0],kNewBox1);
        }
        else if ( rkUC.m_kMap == m2_2 )
        {
            if ( rkVC.m_kMap == m2_2 )
            {
                // box0edge-box1edge intersection
                Vector3<Real> akEdge0[2], akEdge1[2];
                akEdge0[0] = GetPoint(rkUC.m_aiIndex[6],kNewBox0);
                akEdge0[1] = GetPoint(rkUC.m_aiIndex[7],kNewBox0);
                akEdge1[0] = GetPoint(rkVC.m_aiIndex[0],kNewBox1);
                akEdge1[1] = GetPoint(rkVC.m_aiIndex[1],kNewBox1);
                FindContactSetLinLin(akEdge0,akEdge1,riQuantity,akP);
            }
            else // rkVC.m_kMap == m44
            {
                // box0edge-box1face intersection
                Vector3<Real> akEdge0[2], akFace1[4];
                akEdge0[0] = GetPoint(rkUC.m_aiIndex[6],kNewBox0);
                akEdge0[1] = GetPoint(rkUC.m_aiIndex[7],kNewBox0);
                akFace1[0] = GetPoint(rkVC.m_aiIndex[0],kNewBox1);
                akFace1[1] = GetPoint(rkVC.m_aiIndex[1],kNewBox1);
                akFace1[2] = GetPoint(rkVC.m_aiIndex[2],kNewBox1);
                akFace1[3] = GetPoint(rkVC.m_aiIndex[3],kNewBox1);
                FindContactSetCoplanarLineRect(akEdge0,akFace1,riQuantity,
                    akP);
            }
        }
        else // rkUC.m_kMap == m44
        {
            if ( rkVC.m_kMap == m2_2 )
            {
                // box0face-box1edge intersection
                Vector3<Real> akFace0[4], akEdge1[2];
                akFace0[0] = GetPoint(rkUC.m_aiIndex[4],kNewBox0);
                akFace0[1] = GetPoint(rkUC.m_aiIndex[5],kNewBox0);
                akFace0[2] = GetPoint(rkUC.m_aiIndex[6],kNewBox0);
                akFace0[3] = GetPoint(rkUC.m_aiIndex[7],kNewBox0);
                akEdge1[0] = GetPoint(rkVC.m_aiIndex[0],kNewBox1);
                akEdge1[1] = GetPoint(rkVC.m_aiIndex[1],kNewBox1);
                FindContactSetCoplanarLineRect(akEdge1,akFace0,riQuantity,
                    akP);
            }
            else // rkVC.m_kMap == m44
            {
                // box0face-box1face intersection
                Vector3<Real> akFace0[4], akFace1[4];
                akFace0[0] = GetPoint(rkUC.m_aiIndex[4],kNewBox0);
                akFace0[1] = GetPoint(rkUC.m_aiIndex[5],kNewBox0);
                akFace0[2] = GetPoint(rkUC.m_aiIndex[6],kNewBox0);
                akFace0[3] = GetPoint(rkUC.m_aiIndex[7],kNewBox0);
                akFace1[0] = GetPoint(rkVC.m_aiIndex[0],kNewBox1);
                akFace1[1] = GetPoint(rkVC.m_aiIndex[1],kNewBox1);
                akFace1[2] = GetPoint(rkVC.m_aiIndex[2],kNewBox1);
                akFace1[3] = GetPoint(rkVC.m_aiIndex[3],kNewBox1);
                FindContactSetCoplanarRectRect(akFace0,akFace1,riQuantity,
                    akP);
            }
        }
    }
}
//----------------------------------------------------------------------------
template <class Real>
bool Wml::TestIntersection (Real fTime, const Box3<Real>& rkBox0,
    const Vector3<Real>& rkVel0, const Box3<Real>& rkBox1,
    const Vector3<Real>& rkVel1)
{
    // convenience variables
    const Vector3<Real>* akA = rkBox0.Axes();
    const Vector3<Real>* akB = rkBox1.Axes();
    const Real* afEA = rkBox0.Extents();
    const Real* afEB = rkBox1.Extents();

    // Compute relative velocity of box1 with respect to box0 so that box0
    // may as well be stationary.
    Vector3<Real> kW = rkVel1 - rkVel0;

    // Compute difference of box centers at time 0 and time 'fTime'.
    Vector3<Real> kD0 = rkBox1.Center() - rkBox0.Center();
    Vector3<Real> kD1 = kD0 + fTime*kW;

    Real aafC[3][3];     // matrix C = A^T B, c_{ij} = Dot(A_i,B_j)
    Real aafAbsC[3][3];  // |c_{ij}|
    Real afAD0[3];       // Dot(A_i,D0)
    Real afAD1[3];       // Dot(A_i,D1)
    Real fR0, fR1, fR;   // interval radii and distance between centers
    Real fR01;           // = R0 + R1
    
    // axis C0+t*A0
    aafC[0][0] = akA[0].Dot(akB[0]);
    aafC[0][1] = akA[0].Dot(akB[1]);
    aafC[0][2] = akA[0].Dot(akB[2]);
    afAD0[0] = akA[0].Dot(kD0);
    afAD1[0] = akA[0].Dot(kD1);
    aafAbsC[0][0] = Math<Real>::FAbs(aafC[0][0]);
    aafAbsC[0][1] = Math<Real>::FAbs(aafC[0][1]);
    aafAbsC[0][2] = Math<Real>::FAbs(aafC[0][2]);
    fR1 = afEB[0]*aafAbsC[0][0]+afEB[1]*aafAbsC[0][1]+afEB[2]*aafAbsC[0][2];
    fR01 = afEA[0] + fR1;
    if ( afAD0[0] > fR01 )
    {
        if ( afAD1[0] > fR01 )
            return false;
    }
    else if ( afAD0[0] < -fR01 )
    {
        if ( afAD1[0] < -fR01 )
            return false;
    }

    // axis C0+t*A1
    aafC[1][0] = akA[1].Dot(akB[0]);
    aafC[1][1] = akA[1].Dot(akB[1]);
    aafC[1][2] = akA[1].Dot(akB[2]);
    afAD0[1] = akA[1].Dot(kD0);
    afAD1[1] = akA[1].Dot(kD1);
    aafAbsC[1][0] = Math<Real>::FAbs(aafC[1][0]);
    aafAbsC[1][1] = Math<Real>::FAbs(aafC[1][1]);
    aafAbsC[1][2] = Math<Real>::FAbs(aafC[1][2]);
    fR1 = afEB[0]*aafAbsC[1][0]+afEB[1]*aafAbsC[1][1]+afEB[2]*aafAbsC[1][2];
    fR01 = afEA[1] + fR1;
    if ( afAD0[1] > fR01 )
    {
        if ( afAD1[1] > fR01 )
            return false;
    }
    else if ( afAD0[1] < -fR01 )
    {
        if ( afAD1[1] < -fR01 )
            return false;
    }

    // axis C0+t*A2
    aafC[2][0] = akA[2].Dot(akB[0]);
    aafC[2][1] = akA[2].Dot(akB[1]);
    aafC[2][2] = akA[2].Dot(akB[2]);
    afAD0[2] = akA[2].Dot(kD0);
    afAD1[2] = akA[2].Dot(kD1);
    aafAbsC[2][0] = Math<Real>::FAbs(aafC[2][0]);
    aafAbsC[2][1] = Math<Real>::FAbs(aafC[2][1]);
    aafAbsC[2][2] = Math<Real>::FAbs(aafC[2][2]);
    fR1 = afEB[0]*aafAbsC[2][0]+afEB[1]*aafAbsC[2][1]+afEB[2]*aafAbsC[2][2];
    fR01 = afEA[2] + fR1;
    if ( afAD0[2] > fR01 )
    {
        if ( afAD1[2] > fR01 )
            return false;
    }
    else if ( afAD0[2] < -fR01 )
    {
        if ( afAD1[2] < -fR01 )
            return false;
    }

    // axis C0+t*B0
    fR = akB[0].Dot(kD0);
    fR0 = afEA[0]*aafAbsC[0][0]+afEA[1]*aafAbsC[1][0]+afEA[2]*aafAbsC[2][0];
    fR01 = fR0 + afEB[0];
    if ( fR > fR01 )
    {
        fR = akB[0].Dot(kD1);
        if ( fR > fR01)
            return false;
    }
    else if ( fR < -fR01 )
    {
        fR = akB[0].Dot(kD1);
        if ( fR < -fR01 )
            return false;
    }

    // axis C0+t*B1
    fR = akB[1].Dot(kD0);
    fR0 = afEA[0]*aafAbsC[0][1]+afEA[1]*aafAbsC[1][1]+afEA[2]*aafAbsC[2][1];
    fR01 = fR0 + afEB[1];
    if ( fR > fR01 )
    {
        fR = akB[1].Dot(kD1);
        if ( fR > fR01 )
            return false;
    }
    else if ( fR < -fR01 )
    {
        fR = akB[1].Dot(kD1);
        if ( fR < -fR01 )
            return false;
    }

    // axis C0+t*B2
    fR = akB[2].Dot(kD0);
    fR0 = afEA[0]*aafAbsC[0][2]+afEA[1]*aafAbsC[1][2]+afEA[2]*aafAbsC[2][2];
    fR01 = fR0 + afEB[2];
    if ( fR > fR01 )
    {
        fR = akB[2].Dot(kD1);
        if ( fR > fR01 )
            return false;
    }
    else if ( fR < -fR01 )
    {
        fR = akB[2].Dot(kD1);
        if ( fR < -fR01 )
            return false;
    }

    // axis C0+t*A0xB0
    fR = afAD0[2]*aafC[1][0]-afAD0[1]*aafC[2][0];
    fR0 = afEA[1]*aafAbsC[2][0] + afEA[2]*aafAbsC[1][0];
    fR1 = afEB[1]*aafAbsC[0][2] + afEB[2]*aafAbsC[0][1];
    fR01 = fR0 + fR1;
    if ( fR > fR01 )
    {
        fR = afAD1[2]*aafC[1][0]-afAD1[1]*aafC[2][0];
        if ( fR > fR01 )
            return false;
    }
    else if ( fR < -fR01 )
    {
        fR = afAD1[2]*aafC[1][0]-afAD1[1]*aafC[2][0];
        if ( fR < -fR01 )
            return false;
    }

    // axis C0+t*A0xB1
    fR = afAD0[2]*aafC[1][1]-afAD0[1]*aafC[2][1];
    fR0 = afEA[1]*aafAbsC[2][1] + afEA[2]*aafAbsC[1][1];
    fR1 = afEB[0]*aafAbsC[0][2] + afEB[2]*aafAbsC[0][0];
    fR01 = fR0 + fR1;
    if ( fR > fR01 )
    {
        fR = afAD1[2]*aafC[1][1]-afAD1[1]*aafC[2][1];
        if ( fR > fR01 )
            return false;
    }
    else if ( fR < -fR01 )
    {
        fR = afAD1[2]*aafC[1][1]-afAD1[1]*aafC[2][1];
        if ( fR < -fR01 )
            return false;
    }

    // axis C0+t*A0xB2
    fR = afAD0[2]*aafC[1][2]-afAD0[1]*aafC[2][2];
    fR0 = afEA[1]*aafAbsC[2][2] + afEA[2]*aafAbsC[1][2];
    fR1 = afEB[0]*aafAbsC[0][1] + afEB[1]*aafAbsC[0][0];
    fR01 = fR0 + fR1;
    if ( fR > fR01 )
    {
        fR = afAD1[2]*aafC[1][2]-afAD1[1]*aafC[2][2];
        if ( fR > fR01 )
            return false;
    }
    else if ( fR < -fR01 )
    {
        fR = afAD1[2]*aafC[1][2]-afAD1[1]*aafC[2][2];
        if ( fR < -fR01 )
            return false;
    }

    // axis C0+t*A1xB0
    fR = afAD0[0]*aafC[2][0]-afAD0[2]*aafC[0][0];
    fR0 = afEA[0]*aafAbsC[2][0] + afEA[2]*aafAbsC[0][0];
    fR1 = afEB[1]*aafAbsC[1][2] + afEB[2]*aafAbsC[1][1];
    fR01 = fR0 + fR1;
    if ( fR > fR01 )
    {
        fR = afAD1[0]*aafC[2][0]-afAD1[2]*aafC[0][0];
        if ( fR > fR01 )
            return false;
    }
    else if ( fR < -fR01 )
    {
        fR = afAD1[0]*aafC[2][0]-afAD1[2]*aafC[0][0];
        if ( fR < -fR01 )
            return false;
    }

    // axis C0+t*A1xB1
    fR = afAD0[0]*aafC[2][1]-afAD0[2]*aafC[0][1];
    fR0 = afEA[0]*aafAbsC[2][1] + afEA[2]*aafAbsC[0][1];
    fR1 = afEB[0]*aafAbsC[1][2] + afEB[2]*aafAbsC[1][0];
    fR01 = fR0 + fR1;
    if ( fR > fR01 )
    {
        fR = afAD1[0]*aafC[2][1]-afAD1[2]*aafC[0][1];
        if ( fR > fR01 )
            return false;
    }
    else if ( fR < -fR01 )
    {
        fR = afAD1[0]*aafC[2][1]-afAD1[2]*aafC[0][1];
        if ( fR < -fR01 )
            return false;
    }

    // axis C0+t*A1xB2
    fR = afAD0[0]*aafC[2][2]-afAD0[2]*aafC[0][2];
    fR0 = afEA[0]*aafAbsC[2][2] + afEA[2]*aafAbsC[0][2];
    fR1 = afEB[0]*aafAbsC[1][1] + afEB[1]*aafAbsC[1][0];
    fR01 = fR0 + fR1;
    if ( fR > fR01 )
    {
        fR = afAD1[0]*aafC[2][2]-afAD1[2]*aafC[0][2];
        if ( fR > fR01 )
            return false;
    }
    else if ( fR < -fR01 )
    {
        fR = afAD1[0]*aafC[2][2]-afAD1[2]*aafC[0][2];
        if ( fR < -fR01 )
            return false;
    }

    // axis C0+t*A2xB0
    fR = afAD0[1]*aafC[0][0]-afAD0[0]*aafC[1][0];
    fR0 = afEA[0]*aafAbsC[1][0] + afEA[1]*aafAbsC[0][0];
    fR1 = afEB[1]*aafAbsC[2][2] + afEB[2]*aafAbsC[2][1];
    fR01 = fR0 + fR1;
    if ( fR > fR01 )
    {
        fR = afAD1[1]*aafC[0][0]-afAD1[0]*aafC[1][0];
        if ( fR > fR01 )
            return false;
    }
    else if ( fR < -fR01 )
    {