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/*
* SOLID - Software Library for Interference Detection
*
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
*
* This library may be distributed under the terms of the Q Public License
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
* LICENSE.QPL included in the packaging of this file.
*
* This library may be distributed and/or modified under the terms of the
* GNU General Public License (GPL) version 2 as published by the Free Software
* Foundation and appearing in the file LICENSE.GPL included in the
* packaging of this file.
*
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Commercial use or any other use of this library not covered by either
* the QPL or the GPL requires an additional license from Dtecta.
* Please contact info@dtecta.com for enquiries about the terms of commercial
* use of this library.
*/
#include "DT_Box.h"
MT_Scalar DT_Box::supportH(const MT_Vector3& v) const
{
return v.absolute().dot(m_extent);
}
MT_Point3 DT_Box::support(const MT_Vector3& v) const
{
return MT_Point3(v[0] < MT_Scalar(0.0) ? -m_extent[0] : m_extent[0],
v[1] < MT_Scalar(0.0) ? -m_extent[1] : m_extent[1],
v[2] < MT_Scalar(0.0) ? -m_extent[2] : m_extent[2]);
}
bool DT_Box::ray_cast(const MT_Point3& source, const MT_Point3& target,
MT_Scalar& param, MT_Vector3& normal) const
{
T_Outcode source_bits = outcode(source);
T_Outcode target_bits = outcode(target);
if ((source_bits & target_bits) == 0x0)
// None of the side planes separate the ray from the box.
{
MT_Scalar lambda_enter = MT_Scalar(0.0);
MT_Scalar lambda_exit = param;
MT_Vector3 r = target - source;
T_Outcode normal_bit = 0x0; // Indicates the axis that is returned as normal.
T_Outcode bit = 0x01;
int i;
for (i = 0; i != 3; ++i)
{
if (source_bits & bit)
// Point of intersection is entering
{
MT_Scalar lambda = (-source[i] - m_extent[i]) / r[i];
if (lambda_enter < lambda)
{
lambda_enter = lambda;
normal_bit = bit;
}
}
else if (target_bits & bit)
// Point of intersection is exiting
{
MT_Scalar lambda = (-source[i] - m_extent[i]) / r[i];
GEN_set_min(lambda_exit, lambda);
}
bit <<=1;
if (source_bits & bit)
// Point of intersection is entering
{
MT_Scalar lambda = (-source[i] + m_extent[i]) / r[i];
if (lambda_enter < lambda)
{
lambda_enter = lambda;
normal_bit = bit;
}
}
else if (target_bits & bit)
// Point of intersection is exiting
{
MT_Scalar lambda = (-source[i] + m_extent[i]) / r[i];
GEN_set_min(lambda_exit, lambda);
}
bit <<=1;
}
if (lambda_enter <= lambda_exit)
// The ray intersects the box
{
param = lambda_enter;
normal.setValue(normal_bit == 0x01 ? -MT_Scalar(1.0) :
normal_bit == 0x02 ? MT_Scalar(1.0) :
MT_Scalar(0.0),
normal_bit == 0x04 ? -MT_Scalar(1.0) :
normal_bit == 0x08 ? MT_Scalar(1.0) :
MT_Scalar(0.0),
normal_bit == 0x10 ? -MT_Scalar(1.0) :
normal_bit == 0x20 ? MT_Scalar(1.0) :
MT_Scalar(0.0));
return true;
}
}
return false;
}
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