geometry stuff

[blank.git] / src / geometry / geometry.cpp

diff --git a/src/geometry/geometry.cpp b/src/geometry/geometry.cpp
index ff28d2e0602c041abcac485099dae79915ab9951..090f78730474f38f0a1c8888cc0f724ad6988128 100644 (file)
--- a/src/geometry/geometry.cpp
+++ b/src/geometry/geometry.cpp
@@ -32,7 +32,7 @@ glm::mat3 find_rotation(const glm::vec3 &a, const glm::vec3 &b) noexcept {
                        return glm::mat3(glm::rotate(PI, axis));
                }
        }
-       float mv = length_squared(v);
+       float mv = length2(v);
        float c = dot(a, b);
        float f = (1 - c) / mv;
        glm::mat3 vx(matrixCross3(v));
@@ -127,13 +127,22 @@ bool Intersection(
                glm::vec3(b_m * glm::vec4(b_box.max.x, b_box.max.y, b_box.max.z, 1)),
        };
 
-       glm::vec3 axes[6] = {
-               glm::vec3(a_m * glm::vec4(1, 0, 0, 0)),
-               glm::vec3(a_m * glm::vec4(0, 1, 0, 0)),
-               glm::vec3(a_m * glm::vec4(0, 0, 1, 0)),
-               glm::vec3(b_m * glm::vec4(1, 0, 0, 0)),
-               glm::vec3(b_m * glm::vec4(0, 1, 0, 0)),
-               glm::vec3(b_m * glm::vec4(0, 0, 1, 0)),
+       glm::vec3 axes[15] = {
+               glm::vec3(a_m[0]),
+               glm::vec3(a_m[1]),
+               glm::vec3(a_m[2]),
+               glm::vec3(b_m[0]),
+               glm::vec3(b_m[1]),
+               glm::vec3(b_m[2]),
+               cross(glm::vec3(a_m[0]), glm::vec3(b_m[0])),
+               cross(glm::vec3(a_m[0]), glm::vec3(b_m[1])),
+               cross(glm::vec3(a_m[0]), glm::vec3(b_m[2])),
+               cross(glm::vec3(a_m[1]), glm::vec3(b_m[0])),
+               cross(glm::vec3(a_m[1]), glm::vec3(b_m[1])),
+               cross(glm::vec3(a_m[1]), glm::vec3(b_m[2])),
+               cross(glm::vec3(a_m[2]), glm::vec3(b_m[0])),
+               cross(glm::vec3(a_m[2]), glm::vec3(b_m[1])),
+               cross(glm::vec3(a_m[2]), glm::vec3(b_m[2])),
        };
 
        depth = std::numeric_limits<float>::infinity();
@@ -141,6 +150,10 @@ bool Intersection(
 
        int cur_axis = 0;
        for (const glm::vec3 &axis : axes) {
+               if (iszero(axis)) {
+                       // can result from the cross products if A and B have parallel axes
+                       continue;
+               }
                float a_min = std::numeric_limits<float>::infinity();
                float a_max = -std::numeric_limits<float>::infinity();
                for (const glm::vec3 &corner : a_corners) {