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/*
* Copyright 2020-2024 Moros
*
* This file is part of Bending.
*
* Bending is free software: you can redistribute it and/or modify
* it under the terms of the GNU Affero General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Bending is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Affero General Public License for more details.
*
* You should have received a copy of the GNU Affero General Public License
* along with Bending. If not, see void addMapping(Type first, Type second, Resolver resolver) {
final int firstId = first.ordinal();
final int secondId = second.ordinal();
RESOLVERS[firstId][secondId] = resolver;
if (firstId != secondId) {
RESOLVERS[secondId][firstId] = resolver.inverse();
}
}
@FunctionalInterface
private interface Resolver extends BiPredicate {
default Resolver inverse() {
return (first, second) -> test(second, first);
}
}
static boolean intersects(Collider first, Collider second) {
return RESOLVERS[first.type().ordinal()][second.type().ordinal()].test(first, second);
}
private static boolean aabbIntersectsSphere(AABB aabb, Sphere sphere) {
Vector3d min = aabb.min();
Vector3d max = aabb.max();
// Get the point closest to sphere center on the aabb.
double x = Math.clamp(sphere.position().x(), min.x(), max.x());
double y = Math.clamp(sphere.position().y(), min.y(), max.y());
double z = Math.clamp(sphere.position().z(), min.z(), max.z());
// Check if that point is inside the sphere.
return sphere.contains(Vector3d.of(x, y, z));
}
private static boolean sphereIntersectsRay(Sphere sphere, Ray ray) {
Vector3d m = ray.position().subtract(sphere.position());
double b = ray.direction().dot(m);
return (m.lengthSq() - b * b / ray.direction().lengthSq()) <= sphere.radius() * sphere.radius();
}
private static boolean aabbIntersectsRay(AABB aabb, Ray ray) {
Vector3d t0 = aabb.min().subtract(ray.position()).multiply(ray.inv());
Vector3d t1 = aabb.max().subtract(ray.position()).multiply(ray.inv());
return t0.min(t1).maxComponent() <= t0.max(t1).minComponent();
}
private static boolean obbIntersectsSphere(OBB obb, Sphere sphere) {
Vector3d v = sphere.position().subtract(obb.closestPosition(sphere.position()));
return v.dot(v) <= sphere.radius() * sphere.radius();
}
private static boolean obbIntersectsAabb(OBB obb, AABB aabb) {
return obbIntersection(obb, OBB.of(aabb));
}
private static boolean obbIntersectsRay(OBB obb, Ray ray) {
Ray localRay = Ray.of(obb.localSpace(ray.position()), obb.localSpace(ray.direction()));
AABB localAABB = AABB.of(obb.extents().negate(), obb.extents()).at(obb.position());
return aabbIntersectsRay(localAABB, localRay);
}
private static boolean diskIntersectsSphere(Disk disk, Sphere sphere) {
return sphereIntersection(disk.sphere(), sphere) && obbIntersectsSphere(disk.obb(), sphere);
}
private static boolean diskIntersectsAabb(Disk disk, AABB aabb) {
return aabbIntersectsSphere(aabb, disk.sphere()) && obbIntersection(disk.obb(), OBB.of(aabb));
}
private static boolean diskIntersectsObb(Disk disk, OBB obb) {
return obbIntersectsSphere(obb, disk.sphere()) && obbIntersection(disk.obb(), obb);
}
private static boolean diskIntersectsRay(Disk disk, Ray ray) {
return sphereIntersectsRay(disk.sphere(), ray) && obbIntersectsRay(disk.obb(), ray);
}
private static boolean sphereIntersection(Sphere first, Sphere other) {
// Spheres will be colliding if their distance apart is less than the sum of the radii.
double sum = first.radius() + other.radius();
return other.position().distanceSq(first.position()) <= sum * sum;
}
private static boolean aabbIntersection(AABB first, AABB other) {
return (first.max().x() > other.min().x() && first.min().x() < other.max().x() &&
first.max().y() > other.min().y() && first.min().y() < other.max().y() &&
first.max().z() > other.min().z() && first.min().z() < other.max().z());
}
private static boolean obbIntersection(OBB first, OBB other) {
if (!aabbIntersection(first.outer(), other.outer())) {
return false;
}
final Vector3d pos = other.position().subtract(first.position());
for (int i = 0; i < 3; i++) {
if (getSeparatingPlane(first, pos, first.axis(i), other) || getSeparatingPlane(first, pos, other.axis(i), other)) {
return false;
}
}
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
if (getSeparatingPlane(first, pos, first.axis(i).cross(other.axis(j)), other)) {
return false;
}
}
}
return true;
}
// check if there's a separating plane in between the selected axes
private static boolean getSeparatingPlane(OBB first, Vector3d pos, Vector3d plane, OBB other) {
final double dot = abs(pos.dot(plane));
final double x1 = abs((first.axis(0).multiply(first.extents().x())).dot(plane));
final double y1 = abs((first.axis(1).multiply(first.extents().y())).dot(plane));
final double z1 = abs((first.axis(2).multiply(first.extents().z())).dot(plane));
final double x2 = abs((other.axis(0).multiply(other.extents().x())).dot(plane));
final double y2 = abs((other.axis(1).multiply(other.extents().y())).dot(plane));
final double z2 = abs((other.axis(2).multiply(other.extents().z())).dot(plane));
return dot > x1 + y1 + z1 + x2 + y2 + z2;
}
private static boolean rayIntersection(Ray first, Ray other) {
Vector3d cross = first.direction().cross(other.direction());
if (cross.lengthSq() < Constants.EPSILON) {
return first.contains(other.position()) || other.contains(first.position());
}
double planarFactor = other.position().subtract(first.position()).dot(cross);
return abs(planarFactor) < Constants.EPSILON;
}
private static boolean diskIntersection(Disk first, Disk other) {
return sphereIntersection(first.sphere(), other.sphere()) && obbIntersection(first.obb(), other.obb());
}
}