initial commit, 4.5 stable

thirdparty/jolt_physics/Jolt/Geometry/AABox.h

@@ -0,0 +1,313 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Geometry/Triangle.h>
+#include <Jolt/Geometry/IndexedTriangle.h>
+#include <Jolt/Geometry/Plane.h>
+#include <Jolt/Math/Mat44.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Axis aligned box
+class [[nodiscard]] AABox
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Constructor
+					AABox()												: mMin(Vec3::sReplicate(FLT_MAX)), mMax(Vec3::sReplicate(-FLT_MAX)) { }
+					AABox(Vec3Arg inMin, Vec3Arg inMax)					: mMin(inMin), mMax(inMax) { }
+					AABox(DVec3Arg inMin, DVec3Arg inMax)				: mMin(inMin.ToVec3RoundDown()), mMax(inMax.ToVec3RoundUp()) { }
+					AABox(Vec3Arg inCenter, float inRadius)				: mMin(inCenter - Vec3::sReplicate(inRadius)), mMax(inCenter + Vec3::sReplicate(inRadius)) { }
+
+	/// Create box from 2 points
+	static AABox	sFromTwoPoints(Vec3Arg inP1, Vec3Arg inP2)			{ return AABox(Vec3::sMin(inP1, inP2), Vec3::sMax(inP1, inP2)); }
+
+	/// Create box from indexed triangle
+	static AABox	sFromTriangle(const VertexList &inVertices, const IndexedTriangle &inTriangle)
+	{
+		AABox box = sFromTwoPoints(Vec3(inVertices[inTriangle.mIdx[0]]), Vec3(inVertices[inTriangle.mIdx[1]]));
+		box.Encapsulate(Vec3(inVertices[inTriangle.mIdx[2]]));
+		return box;
+	}
+
+	/// Get bounding box of size FLT_MAX
+	static AABox	sBiggest()
+	{
+		/// Max half extent of AABox is 0.5 * FLT_MAX so that GetSize() remains finite
+		return AABox(Vec3::sReplicate(-0.5f * FLT_MAX), Vec3::sReplicate(0.5f * FLT_MAX));
+	}
+
+	/// Comparison operators
+	bool			operator == (const AABox &inRHS) const				{ return mMin == inRHS.mMin && mMax == inRHS.mMax; }
+	bool			operator != (const AABox &inRHS) const				{ return mMin != inRHS.mMin || mMax != inRHS.mMax; }
+
+	/// Reset the bounding box to an empty bounding box
+	void			SetEmpty()
+	{
+		mMin = Vec3::sReplicate(FLT_MAX);
+		mMax = Vec3::sReplicate(-FLT_MAX);
+	}
+
+	/// Check if the bounding box is valid (max >= min)
+	bool			IsValid() const
+	{
+		return mMin.GetX() <= mMax.GetX() && mMin.GetY() <= mMax.GetY() && mMin.GetZ() <= mMax.GetZ();
+	}
+
+	/// Encapsulate point in bounding box
+	void			Encapsulate(Vec3Arg inPos)
+	{
+		mMin = Vec3::sMin(mMin, inPos);
+		mMax = Vec3::sMax(mMax, inPos);
+	}
+
+	/// Encapsulate bounding box in bounding box
+	void			Encapsulate(const AABox &inRHS)
+	{
+		mMin = Vec3::sMin(mMin, inRHS.mMin);
+		mMax = Vec3::sMax(mMax, inRHS.mMax);
+	}
+
+	/// Encapsulate triangle in bounding box
+	void			Encapsulate(const Triangle &inRHS)
+	{
+		Vec3 v = Vec3::sLoadFloat3Unsafe(inRHS.mV[0]);
+		Encapsulate(v);
+		v = Vec3::sLoadFloat3Unsafe(inRHS.mV[1]);
+		Encapsulate(v);
+		v = Vec3::sLoadFloat3Unsafe(inRHS.mV[2]);
+		Encapsulate(v);
+	}
+
+	/// Encapsulate triangle in bounding box
+	void			Encapsulate(const VertexList &inVertices, const IndexedTriangle &inTriangle)
+	{
+		for (uint32 idx : inTriangle.mIdx)
+			Encapsulate(Vec3(inVertices[idx]));
+	}
+
+	/// Intersect this bounding box with inOther, returns the intersection
+	AABox			Intersect(const AABox &inOther) const
+	{
+		return AABox(Vec3::sMax(mMin, inOther.mMin), Vec3::sMin(mMax, inOther.mMax));
+	}
+
+	/// Make sure that each edge of the bounding box has a minimal length
+	void			EnsureMinimalEdgeLength(float inMinEdgeLength)
+	{
+		Vec3 min_length = Vec3::sReplicate(inMinEdgeLength);
+		mMax = Vec3::sSelect(mMax, mMin + min_length, Vec3::sLess(mMax - mMin, min_length));
+	}
+
+	/// Widen the box on both sides by inVector
+	void			ExpandBy(Vec3Arg inVector)
+	{
+		mMin -= inVector;
+		mMax += inVector;
+	}
+
+	/// Get center of bounding box
+	Vec3			GetCenter() const
+	{
+		return 0.5f * (mMin + mMax);
+	}
+
+	/// Get extent of bounding box (half of the size)
+	Vec3			GetExtent() const
+	{
+		return 0.5f * (mMax - mMin);
+	}
+
+	/// Get size of bounding box
+	Vec3			GetSize() const
+	{
+		return mMax - mMin;
+	}
+
+	/// Get surface area of bounding box
+	float			GetSurfaceArea() const
+	{
+		Vec3 extent = mMax - mMin;
+		return 2.0f * (extent.GetX() * extent.GetY() + extent.GetX() * extent.GetZ() + extent.GetY() * extent.GetZ());
+	}
+
+	/// Get volume of bounding box
+	float			GetVolume() const
+	{
+		Vec3 extent = mMax - mMin;
+		return extent.GetX() * extent.GetY() * extent.GetZ();
+	}
+
+	/// Check if this box contains another box
+	bool			Contains(const AABox &inOther) const
+	{
+		return UVec4::sAnd(Vec3::sLessOrEqual(mMin, inOther.mMin), Vec3::sGreaterOrEqual(mMax, inOther.mMax)).TestAllXYZTrue();
+	}
+
+	/// Check if this box contains a point
+	bool			Contains(Vec3Arg inOther) const
+	{
+		return UVec4::sAnd(Vec3::sLessOrEqual(mMin, inOther), Vec3::sGreaterOrEqual(mMax, inOther)).TestAllXYZTrue();
+	}
+
+	/// Check if this box contains a point
+	bool			Contains(DVec3Arg inOther) const
+	{
+		return Contains(Vec3(inOther));
+	}
+
+	/// Check if this box overlaps with another box
+	bool			Overlaps(const AABox &inOther) const
+	{
+		return !UVec4::sOr(Vec3::sGreater(mMin, inOther.mMax), Vec3::sLess(mMax, inOther.mMin)).TestAnyXYZTrue();
+	}
+
+	/// Check if this box overlaps with a plane
+	bool			Overlaps(const Plane &inPlane) const
+	{
+		Vec3 normal = inPlane.GetNormal();
+		float dist_normal = inPlane.SignedDistance(GetSupport(normal));
+		float dist_min_normal = inPlane.SignedDistance(GetSupport(-normal));
+		return dist_normal * dist_min_normal <= 0.0f; // If both support points are on the same side of the plane we don't overlap
+	}
+
+	/// Translate bounding box
+	void			Translate(Vec3Arg inTranslation)
+	{
+		mMin += inTranslation;
+		mMax += inTranslation;
+	}
+
+	/// Translate bounding box
+	void			Translate(DVec3Arg inTranslation)
+	{
+		mMin = (DVec3(mMin) + inTranslation).ToVec3RoundDown();
+		mMax = (DVec3(mMax) + inTranslation).ToVec3RoundUp();
+	}
+
+	/// Transform bounding box
+	AABox			Transformed(Mat44Arg inMatrix) const
+	{
+		// Start with the translation of the matrix
+		Vec3 new_min, new_max;
+		new_min = new_max = inMatrix.GetTranslation();
+
+		// Now find the extreme points by considering the product of the min and max with each column of inMatrix
+		for (int c = 0; c < 3; ++c)
+		{
+			Vec3 col = inMatrix.GetColumn3(c);
+
+			Vec3 a = col * mMin[c];
+			Vec3 b = col * mMax[c];
+
+			new_min += Vec3::sMin(a, b);
+			new_max += Vec3::sMax(a, b);
+		}
+
+		// Return the new bounding box
+		return AABox(new_min, new_max);
+	}
+
+	/// Transform bounding box
+	AABox			Transformed(DMat44Arg inMatrix) const
+	{
+		AABox transformed = Transformed(inMatrix.GetRotation());
+		transformed.Translate(inMatrix.GetTranslation());
+		return transformed;
+	}
+
+	/// Scale this bounding box, can handle non-uniform and negative scaling
+	AABox			Scaled(Vec3Arg inScale) const
+	{
+		return AABox::sFromTwoPoints(mMin * inScale, mMax * inScale);
+	}
+
+	/// Calculate the support vector for this convex shape.
+	Vec3			GetSupport(Vec3Arg inDirection) const
+	{
+		return Vec3::sSelect(mMax, mMin, Vec3::sLess(inDirection, Vec3::sZero()));
+	}
+
+	/// Get the vertices of the face that faces inDirection the most
+	template <class VERTEX_ARRAY>
+	void			GetSupportingFace(Vec3Arg inDirection, VERTEX_ARRAY &outVertices) const
+	{
+		outVertices.resize(4);
+
+		int axis = inDirection.Abs().GetHighestComponentIndex();
+		if (inDirection[axis] < 0.0f)
+		{
+			switch (axis)
+			{
+			case 0:
+				outVertices[0] = Vec3(mMax.GetX(), mMin.GetY(), mMin.GetZ());
+				outVertices[1] = Vec3(mMax.GetX(), mMax.GetY(), mMin.GetZ());
+				outVertices[2] = Vec3(mMax.GetX(), mMax.GetY(), mMax.GetZ());
+				outVertices[3] = Vec3(mMax.GetX(), mMin.GetY(), mMax.GetZ());
+				break;
+
+			case 1:
+				outVertices[0] = Vec3(mMin.GetX(), mMax.GetY(), mMin.GetZ());
+				outVertices[1] = Vec3(mMin.GetX(), mMax.GetY(), mMax.GetZ());
+				outVertices[2] = Vec3(mMax.GetX(), mMax.GetY(), mMax.GetZ());
+				outVertices[3] = Vec3(mMax.GetX(), mMax.GetY(), mMin.GetZ());
+				break;
+
+			case 2:
+				outVertices[0] = Vec3(mMin.GetX(), mMin.GetY(), mMax.GetZ());
+				outVertices[1] = Vec3(mMax.GetX(), mMin.GetY(), mMax.GetZ());
+				outVertices[2] = Vec3(mMax.GetX(), mMax.GetY(), mMax.GetZ());
+				outVertices[3] = Vec3(mMin.GetX(), mMax.GetY(), mMax.GetZ());
+				break;
+			}
+		}
+		else
+		{
+			switch (axis)
+			{
+			case 0:
+				outVertices[0] = Vec3(mMin.GetX(), mMin.GetY(), mMin.GetZ());
+				outVertices[1] = Vec3(mMin.GetX(), mMin.GetY(), mMax.GetZ());
+				outVertices[2] = Vec3(mMin.GetX(), mMax.GetY(), mMax.GetZ());
+				outVertices[3] = Vec3(mMin.GetX(), mMax.GetY(), mMin.GetZ());
+				break;
+
+			case 1:
+				outVertices[0] = Vec3(mMin.GetX(), mMin.GetY(), mMin.GetZ());
+				outVertices[1] = Vec3(mMax.GetX(), mMin.GetY(), mMin.GetZ());
+				outVertices[2] = Vec3(mMax.GetX(), mMin.GetY(), mMax.GetZ());
+				outVertices[3] = Vec3(mMin.GetX(), mMin.GetY(), mMax.GetZ());
+				break;
+
+			case 2:
+				outVertices[0] = Vec3(mMin.GetX(), mMin.GetY(), mMin.GetZ());
+				outVertices[1] = Vec3(mMin.GetX(), mMax.GetY(), mMin.GetZ());
+				outVertices[2] = Vec3(mMax.GetX(), mMax.GetY(), mMin.GetZ());
+				outVertices[3] = Vec3(mMax.GetX(), mMin.GetY(), mMin.GetZ());
+				break;
+			}
+		}
+	}
+
+	/// Get the closest point on or in this box to inPoint
+	Vec3			GetClosestPoint(Vec3Arg inPoint) const
+	{
+		return Vec3::sMin(Vec3::sMax(inPoint, mMin), mMax);
+	}
+
+	/// Get the squared distance between inPoint and this box (will be 0 if in Point is inside the box)
+	inline float	GetSqDistanceTo(Vec3Arg inPoint) const
+	{
+		return (GetClosestPoint(inPoint) - inPoint).LengthSq();
+	}
+
+	/// Bounding box min and max
+	Vec3			mMin;
+	Vec3			mMax;
+};
+
+JPH_NAMESPACE_END