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102 lines
3.3 KiB
102 lines
3.3 KiB
// David Eberly, Geometric Tools, Redmond WA 98052
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// Copyright (c) 1998-2021
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// Distributed under the Boost Software License, Version 1.0.
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// https://www.boost.org/LICENSE_1_0.txt
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// https://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
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// Version: 4.0.2019.08.13
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#pragma once
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#include <Mathematics/FIQuery.h>
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#include <Mathematics/TIQuery.h>
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#include <Mathematics/AlignedBox.h>
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#include <Mathematics/OrientedBox.h>
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#include <Mathematics/Vector2.h>
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// The queries consider the box to be a solid.
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//
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// The test-intersection query uses the method of separating axes.
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// https://www.geometrictools.com/Documentation/MethodOfSeparatingAxes.pdf
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// The set of potential separating directions includes the 2 edge normals
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// of box0 and the 2 edge normals of box1. The integer 'separating'
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// identifies the axis that reported separation; there may be more than one
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// but only one is reported. The value is 0 when box0.axis[0] separates,
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// 1 when box0.axis[1] separates, 2 when box1.axis[0] separates, or 3 when
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// box1.axis[1] separates.
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namespace gte
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{
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template <typename Real>
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class TIQuery<Real, AlignedBox2<Real>, OrientedBox2<Real>>
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{
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public:
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struct Result
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{
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bool intersect;
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int separating;
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};
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Result operator()(AlignedBox2<Real> const& box0, OrientedBox2<Real> const& box1)
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{
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Result result;
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// Get the centered form of the aligned box. The axes are
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// implicitly A0[0] = (1,0) and A0[1] = (0,1).
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Vector2<Real> C0, E0;
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box0.GetCenteredForm(C0, E0);
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// Convenience variables.
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Vector2<Real> const& C1 = box1.center;
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Vector2<Real> const* A1 = &box1.axis[0];
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Vector2<Real> const& E1 = box1.extent;
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// Compute difference of box centers.
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Vector2<Real> D = C1 - C0;
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Real absDot01[2][2], rSum;
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// Test box0.axis[0] = (1,0).
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absDot01[0][0] = std::fabs(A1[0][0]);
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absDot01[0][1] = std::fabs(A1[1][0]);
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rSum = E0[0] + E1[0] * absDot01[0][0] + E1[1] * absDot01[0][1];
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if (std::fabs(D[0]) > rSum)
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{
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result.intersect = false;
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result.separating = 0;
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return result;
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}
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// Test axis box0.axis[1] = (0,1).
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absDot01[1][0] = std::fabs(A1[0][1]);
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absDot01[1][1] = std::fabs(A1[1][1]);
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rSum = E0[1] + E1[0] * absDot01[1][0] + E1[1] * absDot01[1][1];
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if (std::fabs(D[1]) > rSum)
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{
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result.intersect = false;
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result.separating = 1;
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return result;
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}
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// Test axis box1.axis[0].
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rSum = E1[0] + E0[0] * absDot01[0][0] + E0[1] * absDot01[1][0];
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if (std::fabs(Dot(A1[0], D)) > rSum)
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{
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result.intersect = false;
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result.separating = 2;
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return result;
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}
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// Test axis box1.axis[1].
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rSum = E1[1] + E0[0] * absDot01[0][1] + E0[1] * absDot01[1][1];
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if (std::fabs(Dot(A1[1], D)) > rSum)
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{
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result.intersect = false;
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result.separating = 3;
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return result;
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}
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result.intersect = true;
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return result;
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}
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};
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}
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