#include "Vec3d.h"#include "XForm3d.h"Go to the source code of this file.
Compounds | |
| struct | geBox |
Defines | |
| #define | GE_BOX_H |
Typedefs | |
| typedef geBox | geBox |
Functions | |
| void | geBox_Set (geBox *Box, geFloat xScale, geFloat yScale, geFloat zScale, const geXForm3d *Transform) |
| void | geBox_SetXForm (geBox *Box, const geXForm3d *Transform) |
| geBoolean | geBox_DetectCollisionBetween (const geBox *Box1, const geBox *Box2) |
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Definition at line 113 of file Box.c. References GE_FALSE, GE_TRUE, geBoolean, geFloat, geVec3d_Subtract(), geXForm3d_IsOrthonormal(), geXForm3d_Rotate(), geBox::GlobalFrameAxes, NULL, geBox::Transform, geBox::TransformInv, geXForm3d::Translation, geVec3d::X, geBox::xScale, geVec3d::Y, geBox::yScale, Z, geVec3d::Z, and geBox::zScale.
00114 {
00115 int i, c;
00116 geFloat radius;
00117 const geBox* BoxA;
00118 const geBox* BoxB;
00119 static geVec3d centerToCenterVector, xformedCenterToCenterVector;
00120 static geVec3d inverseXFormedGlobalFrameAxes[3];
00121 geBoolean isOrthonormal;
00122
00123 assert(Box1 != NULL);
00124 assert(Box2 != NULL);
00125
00126 // assert orthonormality
00127
00128 isOrthonormal = geXForm3d_IsOrthonormal(&(Box1->Transform));
00129 assert(isOrthonormal);
00130
00131 isOrthonormal = geXForm3d_IsOrthonormal(&(Box2->Transform));
00132 assert(isOrthonormal);
00133
00134 // test B against A and if necessary A against B
00135
00136 for (c = 0; c < 2; c ++)
00137 {
00138 if (c == 0)
00139 {
00140 BoxA = Box1;
00141 BoxB = Box2;
00142 }
00143
00144 else
00145 {
00146 BoxA = Box2;
00147 BoxB = Box1;
00148 }
00149
00150 // rotate B's global frame axes by the amount A was rotated to bring it
00151 // back into its local coord system
00152
00153 for (i = 0; i < 3; i++)
00154 {
00155 geXForm3d_Rotate(&(BoxA->TransformInv), &(BoxB->GlobalFrameAxes[i]),
00156 &inverseXFormedGlobalFrameAxes[i]);
00157 }
00158
00159 // get B's translation offset from A in global coord system
00160
00161 geVec3d_Subtract(&(BoxB->Transform.Translation), &(BoxA->Transform.Translation),
00162 ¢erToCenterVector);
00163
00164 // rotate offset by the amount A was rotated to bring it
00165 // back into its local coord system
00166
00167 geXForm3d_Rotate(&(BoxA->TransformInv), ¢erToCenterVector,
00168 &xformedCenterToCenterVector);
00169
00170 xformedCenterToCenterVector.X = (geFloat)fabs(xformedCenterToCenterVector.X);
00171 xformedCenterToCenterVector.Y = (geFloat)fabs(xformedCenterToCenterVector.Y);
00172 xformedCenterToCenterVector.Z = (geFloat)fabs(xformedCenterToCenterVector.Z);
00173
00174 // test every radius of BoxB
00175 // for every global frame-axis-aligned axis of BoxA
00176 // to see if overlap occurred
00177
00178 // test overlap in X axis
00179
00180 radius = (geFloat)(fabs(inverseXFormedGlobalFrameAxes[0].X) +
00181 fabs(inverseXFormedGlobalFrameAxes[1].X) +
00182 fabs(inverseXFormedGlobalFrameAxes[2].X));
00183
00184 if ((radius + BoxA->xScale) < xformedCenterToCenterVector.X)
00185 return GE_FALSE;
00186
00187 // test overlap in Y axis
00188
00189 radius = (geFloat)(fabs(inverseXFormedGlobalFrameAxes[0].Y) +
00190 fabs(inverseXFormedGlobalFrameAxes[1].Y) +
00191 fabs(inverseXFormedGlobalFrameAxes[2].Y));
00192
00193 if ((radius + BoxA->yScale) < xformedCenterToCenterVector.Y)
00194 return GE_FALSE;
00195
00196 // test overlap in Z axis
00197
00198 radius = (geFloat)(fabs(inverseXFormedGlobalFrameAxes[0].Z) +
00199 fabs(inverseXFormedGlobalFrameAxes[1].Z) +
00200 fabs(inverseXFormedGlobalFrameAxes[2].Z));
00201
00202 if ((radius + BoxA->zScale) < xformedCenterToCenterVector.Z)
00203 return GE_FALSE;
00204
00205 } // c
00206
00207 return GE_TRUE; // all tests checked out, overlap occurred
00208 }
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Definition at line 67 of file Box.c. References geBoolean, geBox_SetXForm(), geXForm3d_IsOrthonormal(), NULL, geBox::Transform, geBox::xScale, geBox::yScale, and geBox::zScale.
00068 {
00069 geBoolean isOrthonormal;
00070
00071 assert(Box != NULL);
00072 assert(Transform != NULL);
00073
00074 isOrthonormal = geXForm3d_IsOrthonormal(&(Box->Transform));
00075 assert(isOrthonormal);
00076
00077 Box->xScale = xScale;
00078 Box->yScale = yScale;
00079 Box->zScale = zScale;
00080
00081 geBox_SetXForm(Box, Transform);
00082 }
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Definition at line 86 of file Box.c. References geBoolean, geBox_ComputeGlobalFrameAxes(), geXForm3d_Copy(), geXForm3d_GetTranspose(), geXForm3d_IsOrthonormal(), NULL, geBox::Transform, and geBox::TransformInv. Referenced by geBox_Set().
00087 {
00088 geBoolean isOrthonormal;
00089
00090 assert(Box != NULL);
00091 assert(Transform != NULL);
00092
00093 isOrthonormal = geXForm3d_IsOrthonormal(Transform);
00094 assert(isOrthonormal);
00095
00096 geXForm3d_Copy(Transform, &(Box->Transform));
00097
00098 isOrthonormal = geXForm3d_IsOrthonormal(&(Box->Transform));
00099 assert(isOrthonormal);
00100
00101 geXForm3d_GetTranspose(Transform, &(Box->TransformInv));
00102
00103 isOrthonormal = geXForm3d_IsOrthonormal(&(Box->TransformInv));
00104 assert(isOrthonormal);
00105
00106 geBox_ComputeGlobalFrameAxes(Box);
00107 }
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1.3.2