88 lines
3.1 KiB
C++
88 lines
3.1 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "GuIntersectionSphereBox.h"
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#include "GuSphere.h"
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#include "GuBox.h"
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using namespace physx;
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bool Gu::intersectSphereBox(const Sphere& sphere, const Box& box)
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{
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const PxVec3 delta = sphere.center - box.center;
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PxVec3 dRot = box.rot.transformTranspose(delta); //transform delta into OBB body coords. (use method call!)
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//check if delta is outside AABB - and clip the vector to the AABB.
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bool outside = false;
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if(dRot.x < -box.extents.x)
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{
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outside = true;
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dRot.x = -box.extents.x;
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}
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else if(dRot.x > box.extents.x)
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{
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outside = true;
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dRot.x = box.extents.x;
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}
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if(dRot.y < -box.extents.y)
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{
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outside = true;
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dRot.y = -box.extents.y;
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}
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else if(dRot.y > box.extents.y)
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{
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outside = true;
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dRot.y = box.extents.y;
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}
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if(dRot.z < -box.extents.z)
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{
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outside = true;
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dRot.z = -box.extents.z;
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}
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else if(dRot.z > box.extents.z)
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{
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outside = true;
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dRot.z = box.extents.z;
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}
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if(outside) //if clipping was done, sphere center is outside of box.
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{
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const PxVec3 clippedDelta = box.rot.transform(dRot); //get clipped delta back in world coords.
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const PxVec3 clippedVec = delta - clippedDelta; //what we clipped away.
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const PxReal lenSquared = clippedVec.magnitudeSquared();
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const PxReal radius = sphere.radius;
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if(lenSquared > radius * radius) // PT: objects are defined as closed, so we return 'true' in case of equality
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return false; //disjoint
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}
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return true;
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}
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